[ { "episode_id": 652910, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 483, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 483, "end_frame": 608, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 608, "end_frame": 816, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 1164, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1164, "end_frame": 1367, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1367, "end_frame": 1970, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1970, "end_frame": 2101, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2101, "end_frame": 2352, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2352, "end_frame": 2622, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2622, "end_frame": 2907, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2907, "end_frame": 3279, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 654159, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 542, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 542, "end_frame": 687, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 687, "end_frame": 935, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 935, "end_frame": 1690, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1690, "end_frame": 1979, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1979, "end_frame": 2501, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2501, "end_frame": 2700, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2700, "end_frame": 2954, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2954, "end_frame": 3260, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3260, "end_frame": 3473, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3473, "end_frame": 3889, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 654192, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 530, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 530, "end_frame": 670, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 670, "end_frame": 943, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 943, "end_frame": 1657, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1657, "end_frame": 1886, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1886, "end_frame": 2388, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2388, "end_frame": 2550, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2550, "end_frame": 2818, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2818, "end_frame": 3203, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3203, "end_frame": 3404, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3404, "end_frame": 3828, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660167, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 614, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 614, "end_frame": 783, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 783, "end_frame": 1050, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1050, "end_frame": 2047, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2047, "end_frame": 2235, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2235, "end_frame": 2717, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2717, "end_frame": 2899, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2899, "end_frame": 3174, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3174, "end_frame": 3388, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3388, "end_frame": 3594, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3594, "end_frame": 3856, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660192, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 594, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 594, "end_frame": 716, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 716, "end_frame": 952, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 952, "end_frame": 2098, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2098, "end_frame": 2281, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2281, "end_frame": 2802, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2802, "end_frame": 2899, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2899, "end_frame": 3228, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3228, "end_frame": 3476, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3476, "end_frame": 3677, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3677, "end_frame": 3965, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660253, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 624, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 624, "end_frame": 731, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 731, "end_frame": 987, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 2347, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2347, "end_frame": 2496, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2496, "end_frame": 2945, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2945, "end_frame": 3103, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 3103, "end_frame": 3261, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3261, "end_frame": 3531, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3531, "end_frame": 3783, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3783, "end_frame": 4082, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660289, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 716, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 716, "end_frame": 848, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 848, "end_frame": 1027, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 2041, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2041, "end_frame": 2169, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2169, "end_frame": 2670, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2670, "end_frame": 2805, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2805, "end_frame": 3108, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3108, "end_frame": 3350, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3350, "end_frame": 3521, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3521, "end_frame": 3784, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660316, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 629, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 629, "end_frame": 784, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 784, "end_frame": 1008, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 2042, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2042, "end_frame": 2303, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2303, "end_frame": 2865, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2865, "end_frame": 3081, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 3081, "end_frame": 3344, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3344, "end_frame": 3594, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3594, "end_frame": 3848, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3848, "end_frame": 4115, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660340, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 641, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 641, "end_frame": 783, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 783, "end_frame": 999, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 999, "end_frame": 2066, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2066, "end_frame": 2195, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2195, "end_frame": 2776, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2776, "end_frame": 2940, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2940, "end_frame": 3228, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3228, "end_frame": 3499, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3499, "end_frame": 3719, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3719, "end_frame": 3960, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 3499, "end": 3719, "description": "" } ] } }, { "episode_id": 660417, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 473, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 473, "end_frame": 608, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 608, "end_frame": 788, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 1212, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1212, "end_frame": 1375, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1375, "end_frame": 1990, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1990, "end_frame": 2145, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2145, "end_frame": 2449, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2449, "end_frame": 2748, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2748, "end_frame": 2970, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2970, "end_frame": 3212, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1375, "end": 1990, "description": "" } ] } }, { "episode_id": 660462, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 582, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 582, "end_frame": 899, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 899, "end_frame": 1325, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1325, "end_frame": 1500, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1500, "end_frame": 2168, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2168, "end_frame": 2317, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2317, "end_frame": 2616, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2616, "end_frame": 2970, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2970, "end_frame": 3228, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3228, "end_frame": 3508, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660489, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 459, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 459, "end_frame": 570, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 570, "end_frame": 839, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1295, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1295, "end_frame": 1471, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1471, "end_frame": 1955, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1955, "end_frame": 2107, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2107, "end_frame": 2352, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2352, "end_frame": 2660, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2660, "end_frame": 2933, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2933, "end_frame": 3195, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660512, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 439, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 439, "end_frame": 551, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 551, "end_frame": 854, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1150, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1150, "end_frame": 1326, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1326, "end_frame": 1857, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1857, "end_frame": 2041, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2041, "end_frame": 2320, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2320, "end_frame": 2643, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2643, "end_frame": 2918, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2918, "end_frame": 3150, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660541, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 458, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 458, "end_frame": 574, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 574, "end_frame": 839, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1155, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1155, "end_frame": 1365, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1365, "end_frame": 1939, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1939, "end_frame": 2099, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2099, "end_frame": 2347, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2347, "end_frame": 2744, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2744, "end_frame": 2910, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2910, "end_frame": 3243, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660566, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 610, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 610, "end_frame": 851, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1293, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1293, "end_frame": 1500, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1500, "end_frame": 2143, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2143, "end_frame": 2322, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2322, "end_frame": 2662, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2662, "end_frame": 2931, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2931, "end_frame": 3184, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3184, "end_frame": 3450, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660623, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 460, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 460, "end_frame": 601, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 601, "end_frame": 938, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1428, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1428, "end_frame": 1584, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1584, "end_frame": 2199, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2199, "end_frame": 2332, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2332, "end_frame": 2633, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2633, "end_frame": 2888, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3236, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3236, "end_frame": 3541, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660644, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 508, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 508, "end_frame": 634, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 634, "end_frame": 925, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1437, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1437, "end_frame": 1614, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1614, "end_frame": 2177, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2177, "end_frame": 2387, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2387, "end_frame": 2678, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2678, "end_frame": 2932, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2932, "end_frame": 3186, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3186, "end_frame": 3474, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660666, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 467, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 467, "end_frame": 598, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 598, "end_frame": 842, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1220, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1220, "end_frame": 1445, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1445, "end_frame": 2045, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2045, "end_frame": 2203, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2203, "end_frame": 2468, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2468, "end_frame": 2729, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2729, "end_frame": 2997, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2997, "end_frame": 3220, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660690, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 504, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 504, "end_frame": 635, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 635, "end_frame": 891, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1311, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1311, "end_frame": 1475, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1475, "end_frame": 2100, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2100, "end_frame": 2260, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2260, "end_frame": 2607, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2607, "end_frame": 2885, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2885, "end_frame": 3158, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3158, "end_frame": 3440, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660711, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 538, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 538, "end_frame": 668, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 668, "end_frame": 938, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1378, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1378, "end_frame": 1564, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1564, "end_frame": 2126, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2126, "end_frame": 2337, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2337, "end_frame": 2555, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2555, "end_frame": 2801, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2801, "end_frame": 3019, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3019, "end_frame": 3328, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660733, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 490, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 490, "end_frame": 648, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 648, "end_frame": 899, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 899, "end_frame": 1363, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1363, "end_frame": 1510, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1510, "end_frame": 2118, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2118, "end_frame": 2302, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2302, "end_frame": 2733, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2733, "end_frame": 3017, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3017, "end_frame": 3209, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3209, "end_frame": 3485, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660754, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 439, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 439, "end_frame": 558, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 558, "end_frame": 818, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1252, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1252, "end_frame": 1389, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1901, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1901, "end_frame": 2047, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2047, "end_frame": 2349, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2349, "end_frame": 2641, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2641, "end_frame": 2874, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2874, "end_frame": 3158, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660776, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 588, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 588, "end_frame": 953, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 953, "end_frame": 1457, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1457, "end_frame": 1620, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1620, "end_frame": 2141, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2141, "end_frame": 2312, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2312, "end_frame": 2598, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2598, "end_frame": 2900, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2900, "end_frame": 3137, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3137, "end_frame": 3434, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660821, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 465, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 465, "end_frame": 565, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 565, "end_frame": 951, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 951, "end_frame": 1422, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1422, "end_frame": 1581, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1581, "end_frame": 2128, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2128, "end_frame": 2319, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2319, "end_frame": 2620, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2620, "end_frame": 2869, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2869, "end_frame": 3091, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3091, "end_frame": 3367, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660861, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 487, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 487, "end_frame": 628, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 628, "end_frame": 893, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1228, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1228, "end_frame": 1443, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1443, "end_frame": 1948, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1948, "end_frame": 2082, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2082, "end_frame": 2453, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2453, "end_frame": 2714, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2714, "end_frame": 2943, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2943, "end_frame": 3303, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660907, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 447, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 447, "end_frame": 541, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 541, "end_frame": 844, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 844, "end_frame": 1321, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1321, "end_frame": 1415, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1415, "end_frame": 2074, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2074, "end_frame": 2289, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2289, "end_frame": 2615, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2615, "end_frame": 3009, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3009, "end_frame": 3300, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3300, "end_frame": 3565, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1415, "end": 2074, "description": "" } ] } }, { "episode_id": 660945, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 457, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 457, "end_frame": 576, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 576, "end_frame": 900, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 900, "end_frame": 1235, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1235, "end_frame": 1422, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1422, "end_frame": 1941, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1941, "end_frame": 2099, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2099, "end_frame": 2424, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2424, "end_frame": 2856, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2856, "end_frame": 3139, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3139, "end_frame": 3414, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660963, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 474, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 474, "end_frame": 646, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 646, "end_frame": 867, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 1280, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1280, "end_frame": 1437, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1437, "end_frame": 1987, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1987, "end_frame": 2261, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2261, "end_frame": 2411, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2411, "end_frame": 2750, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2750, "end_frame": 3092, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3092, "end_frame": 3385, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 660988, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 442, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 442, "end_frame": 546, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 546, "end_frame": 840, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 840, "end_frame": 1256, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1256, "end_frame": 1435, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1435, "end_frame": 1981, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1981, "end_frame": 2085, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2085, "end_frame": 2613, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2613, "end_frame": 2947, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2947, "end_frame": 3203, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3203, "end_frame": 3486, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661059, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 576, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 576, "end_frame": 944, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1363, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1363, "end_frame": 1533, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1533, "end_frame": 2053, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2053, "end_frame": 2211, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2211, "end_frame": 2436, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2436, "end_frame": 2908, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2908, "end_frame": 3148, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3148, "end_frame": 3387, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661080, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 526, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 526, "end_frame": 827, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 827, "end_frame": 1115, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1115, "end_frame": 1244, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1737, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1737, "end_frame": 1862, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1862, "end_frame": 2130, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2130, "end_frame": 2426, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2426, "end_frame": 2648, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2648, "end_frame": 2894, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661097, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 404, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 404, "end_frame": 511, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 511, "end_frame": 745, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 1225, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1225, "end_frame": 1402, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1402, "end_frame": 1910, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1910, "end_frame": 2081, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2081, "end_frame": 2530, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2530, "end_frame": 2777, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2777, "end_frame": 3035, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3035, "end_frame": 3271, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661115, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 474, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 474, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 835, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 835, "end_frame": 1203, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1203, "end_frame": 1319, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1319, "end_frame": 1790, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1790, "end_frame": 1903, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1903, "end_frame": 2397, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2397, "end_frame": 2659, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2659, "end_frame": 2888, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3053, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661183, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 503, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 503, "end_frame": 660, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 660, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1589, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1589, "end_frame": 1740, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1740, "end_frame": 2124, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2124, "end_frame": 2277, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2277, "end_frame": 2631, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2631, "end_frame": 2879, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2879, "end_frame": 3154, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3154, "end_frame": 3410, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661203, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 578, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 578, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 931, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1696, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1696, "end_frame": 1851, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1851, "end_frame": 2245, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2245, "end_frame": 2392, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2392, "end_frame": 2760, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2760, "end_frame": 3133, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3133, "end_frame": 3339, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3339, "end_frame": 3622, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661278, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 513, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 513, "end_frame": 645, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 645, "end_frame": 851, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1585, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1585, "end_frame": 1781, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1781, "end_frame": 2320, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2320, "end_frame": 2489, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2489, "end_frame": 2769, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2769, "end_frame": 3086, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3086, "end_frame": 3352, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3352, "end_frame": 3620, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661322, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 523, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 523, "end_frame": 654, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 654, "end_frame": 930, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1614, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1614, "end_frame": 1805, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1805, "end_frame": 2298, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2298, "end_frame": 2469, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2469, "end_frame": 2726, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2726, "end_frame": 2937, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2937, "end_frame": 3190, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3190, "end_frame": 3496, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661358, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 557, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 557, "end_frame": 706, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 706, "end_frame": 948, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1838, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1838, "end_frame": 1970, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1970, "end_frame": 2590, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2590, "end_frame": 2722, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2722, "end_frame": 3044, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3044, "end_frame": 3354, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3354, "end_frame": 3643, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3643, "end_frame": 3946, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661419, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 499, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 499, "end_frame": 623, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 623, "end_frame": 852, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1388, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1388, "end_frame": 1566, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1566, "end_frame": 1985, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1985, "end_frame": 2116, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2116, "end_frame": 2432, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2432, "end_frame": 2678, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2678, "end_frame": 2909, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2909, "end_frame": 3151, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661441, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 636, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 636, "end_frame": 913, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1539, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1539, "end_frame": 1695, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1695, "end_frame": 2195, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2195, "end_frame": 2351, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2351, "end_frame": 2604, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2604, "end_frame": 3007, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3007, "end_frame": 3240, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3240, "end_frame": 3446, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661463, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 520, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 520, "end_frame": 632, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 632, "end_frame": 824, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1628, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1628, "end_frame": 1789, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1789, "end_frame": 2188, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2188, "end_frame": 2345, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2345, "end_frame": 2734, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2734, "end_frame": 2991, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2991, "end_frame": 3234, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3234, "end_frame": 3487, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661486, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 519, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 519, "end_frame": 621, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 621, "end_frame": 856, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 1487, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1487, "end_frame": 1639, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1639, "end_frame": 2084, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2084, "end_frame": 2245, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2245, "end_frame": 2593, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2593, "end_frame": 2813, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2813, "end_frame": 3033, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3033, "end_frame": 3366, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661516, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 522, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 522, "end_frame": 638, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 638, "end_frame": 876, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 1614, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1614, "end_frame": 1746, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1746, "end_frame": 2316, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2316, "end_frame": 2442, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2442, "end_frame": 2727, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2727, "end_frame": 3054, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3054, "end_frame": 3350, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3350, "end_frame": 3608, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1746, "end": 2316, "description": "" } ] } }, { "episode_id": 661540, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 504, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 504, "end_frame": 620, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 620, "end_frame": 853, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 1554, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1554, "end_frame": 1690, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1690, "end_frame": 2164, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2164, "end_frame": 2376, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2376, "end_frame": 2694, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2694, "end_frame": 2948, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2948, "end_frame": 3202, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3202, "end_frame": 3466, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661561, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 532, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 532, "end_frame": 652, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 652, "end_frame": 885, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 885, "end_frame": 1499, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1499, "end_frame": 1700, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1700, "end_frame": 2325, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2325, "end_frame": 2493, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2493, "end_frame": 2906, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2906, "end_frame": 3175, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3175, "end_frame": 3449, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3449, "end_frame": 3731, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661591, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 495, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 495, "end_frame": 636, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 636, "end_frame": 860, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1507, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1507, "end_frame": 1642, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1642, "end_frame": 2169, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2169, "end_frame": 2356, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2356, "end_frame": 2851, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2851, "end_frame": 3086, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3086, "end_frame": 3399, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3399, "end_frame": 3586, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661616, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 602, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 602, "end_frame": 758, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 758, "end_frame": 1012, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1012, "end_frame": 1723, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1723, "end_frame": 1904, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1904, "end_frame": 2475, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2475, "end_frame": 2573, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2573, "end_frame": 2854, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2854, "end_frame": 3066, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3066, "end_frame": 3331, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3331, "end_frame": 3596, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661647, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 478, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 478, "end_frame": 635, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 635, "end_frame": 847, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1537, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1537, "end_frame": 1679, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1679, "end_frame": 2152, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2152, "end_frame": 2408, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2408, "end_frame": 2733, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2733, "end_frame": 2891, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2891, "end_frame": 3126, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3126, "end_frame": 3364, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2152, "end": 2408, "description": "" } ] } }, { "episode_id": 661737, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 533, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 533, "end_frame": 665, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 665, "end_frame": 903, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 903, "end_frame": 1557, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1557, "end_frame": 1714, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1714, "end_frame": 2154, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2154, "end_frame": 2314, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2314, "end_frame": 2609, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2609, "end_frame": 2854, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2854, "end_frame": 3088, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3088, "end_frame": 3394, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661781, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 498, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 498, "end_frame": 612, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 612, "end_frame": 851, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1537, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1537, "end_frame": 1699, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1699, "end_frame": 2219, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2219, "end_frame": 2425, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2425, "end_frame": 2639, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2639, "end_frame": 2934, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2934, "end_frame": 3170, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3170, "end_frame": 3487, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661799, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 641, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 641, "end_frame": 865, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 865, "end_frame": 1685, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1685, "end_frame": 1825, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1825, "end_frame": 2376, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2376, "end_frame": 2542, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2542, "end_frame": 2784, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2784, "end_frame": 3047, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3047, "end_frame": 3310, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3310, "end_frame": 3594, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661844, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 523, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 523, "end_frame": 661, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 661, "end_frame": 932, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1645, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1645, "end_frame": 1854, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1854, "end_frame": 2392, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2392, "end_frame": 2573, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2573, "end_frame": 2825, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2825, "end_frame": 3073, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3073, "end_frame": 3364, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3364, "end_frame": 3636, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661886, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 525, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 525, "end_frame": 643, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 643, "end_frame": 904, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1617, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1617, "end_frame": 1756, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1756, "end_frame": 2234, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2234, "end_frame": 2381, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2381, "end_frame": 2668, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2668, "end_frame": 2939, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2939, "end_frame": 3202, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3202, "end_frame": 3439, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661908, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 608, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 608, "end_frame": 824, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1682, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1682, "end_frame": 1945, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1945, "end_frame": 2355, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2355, "end_frame": 2499, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2499, "end_frame": 2917, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2917, "end_frame": 3095, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3095, "end_frame": 3365, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3365, "end_frame": 3589, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661937, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 509, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 509, "end_frame": 654, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 654, "end_frame": 891, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1549, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1549, "end_frame": 1698, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1698, "end_frame": 2203, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2203, "end_frame": 2398, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2398, "end_frame": 2624, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2624, "end_frame": 2984, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2984, "end_frame": 3270, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3270, "end_frame": 3592, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661958, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 541, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 541, "end_frame": 694, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 694, "end_frame": 919, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1510, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1510, "end_frame": 1652, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1652, "end_frame": 2054, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2054, "end_frame": 2225, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2225, "end_frame": 2695, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2695, "end_frame": 2884, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2884, "end_frame": 3129, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3129, "end_frame": 3364, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 661977, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 517, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 517, "end_frame": 655, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 655, "end_frame": 906, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1490, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1490, "end_frame": 1672, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1672, "end_frame": 2172, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2172, "end_frame": 2346, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2346, "end_frame": 2597, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2597, "end_frame": 2823, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2823, "end_frame": 3078, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3078, "end_frame": 3358, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662000, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 499, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 499, "end_frame": 612, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 612, "end_frame": 892, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1377, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1377, "end_frame": 1490, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1490, "end_frame": 1997, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1997, "end_frame": 2106, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2106, "end_frame": 2482, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2482, "end_frame": 2691, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2691, "end_frame": 3016, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3016, "end_frame": 3264, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662022, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 422, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 422, "end_frame": 515, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 515, "end_frame": 758, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 1211, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1211, "end_frame": 1371, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1371, "end_frame": 1825, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1825, "end_frame": 1990, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1990, "end_frame": 2353, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2353, "end_frame": 2665, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2665, "end_frame": 2984, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2984, "end_frame": 3242, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662072, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 447, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 447, "end_frame": 539, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 539, "end_frame": 762, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 1155, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1155, "end_frame": 1234, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1234, "end_frame": 1713, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1713, "end_frame": 1844, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1844, "end_frame": 2341, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2341, "end_frame": 2510, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2510, "end_frame": 2657, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2657, "end_frame": 2925, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662094, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 430, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 430, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 798, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1205, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1205, "end_frame": 1309, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1309, "end_frame": 1813, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1813, "end_frame": 1940, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1940, "end_frame": 2246, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2246, "end_frame": 2500, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2500, "end_frame": 2800, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2800, "end_frame": 3037, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662131, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 535, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 535, "end_frame": 805, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 1241, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1241, "end_frame": 1356, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1356, "end_frame": 1815, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1815, "end_frame": 1950, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1950, "end_frame": 2323, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2323, "end_frame": 2531, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2531, "end_frame": 2838, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2838, "end_frame": 3082, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662221, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 577, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 577, "end_frame": 870, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1302, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1302, "end_frame": 1460, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1460, "end_frame": 1937, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1937, "end_frame": 2085, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2085, "end_frame": 2392, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2392, "end_frame": 2634, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2634, "end_frame": 2948, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2948, "end_frame": 3297, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665784, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 591, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 591, "end_frame": 773, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 1497, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1497, "end_frame": 1652, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1652, "end_frame": 2270, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2270, "end_frame": 2497, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2497, "end_frame": 2740, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2740, "end_frame": 3132, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3132, "end_frame": 3513, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3513, "end_frame": 3806, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665817, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 435, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 435, "end_frame": 548, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 548, "end_frame": 742, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 742, "end_frame": 1154, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1154, "end_frame": 1331, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1331, "end_frame": 1811, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1811, "end_frame": 1969, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1969, "end_frame": 2349, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2349, "end_frame": 2607, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2607, "end_frame": 2807, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2807, "end_frame": 3119, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665845, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 458, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 458, "end_frame": 580, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 580, "end_frame": 757, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 1256, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1256, "end_frame": 1393, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1393, "end_frame": 2003, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2003, "end_frame": 2201, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2201, "end_frame": 2674, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2674, "end_frame": 2969, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2969, "end_frame": 3226, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3226, "end_frame": 3492, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665865, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 437, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 437, "end_frame": 565, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 565, "end_frame": 741, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 1584, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1584, "end_frame": 1765, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1765, "end_frame": 2320, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2320, "end_frame": 2550, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2550, "end_frame": 2848, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2848, "end_frame": 3117, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3117, "end_frame": 3376, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3376, "end_frame": 3664, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665883, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 454, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 454, "end_frame": 586, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 586, "end_frame": 795, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 1356, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1356, "end_frame": 1565, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1565, "end_frame": 2140, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2140, "end_frame": 2293, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2293, "end_frame": 2681, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2681, "end_frame": 2956, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2956, "end_frame": 3221, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3221, "end_frame": 3506, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665923, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 521, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 521, "end_frame": 620, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 620, "end_frame": 869, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1506, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1506, "end_frame": 1772, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1772, "end_frame": 2380, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2380, "end_frame": 2548, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2548, "end_frame": 2936, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2936, "end_frame": 3284, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3284, "end_frame": 3689, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3689, "end_frame": 3990, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665939, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 448, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 448, "end_frame": 564, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 564, "end_frame": 817, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1466, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1466, "end_frame": 1640, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1640, "end_frame": 2220, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2220, "end_frame": 2410, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2410, "end_frame": 2842, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2842, "end_frame": 3069, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3069, "end_frame": 3350, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3350, "end_frame": 3628, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665954, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 461, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 461, "end_frame": 593, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 593, "end_frame": 823, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 1663, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1663, "end_frame": 1850, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1850, "end_frame": 2371, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2371, "end_frame": 2508, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2508, "end_frame": 2876, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2876, "end_frame": 3167, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3167, "end_frame": 3447, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3447, "end_frame": 3776, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 665978, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 566, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 566, "end_frame": 787, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 787, "end_frame": 1552, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1552, "end_frame": 1801, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1801, "end_frame": 2378, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2378, "end_frame": 2548, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2548, "end_frame": 2996, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2996, "end_frame": 3296, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3296, "end_frame": 3591, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3591, "end_frame": 3891, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666004, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 467, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 467, "end_frame": 564, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 564, "end_frame": 877, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 877, "end_frame": 1527, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1527, "end_frame": 1738, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1738, "end_frame": 2296, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2296, "end_frame": 2450, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2450, "end_frame": 2883, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2883, "end_frame": 3231, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3231, "end_frame": 3561, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3561, "end_frame": 3920, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666032, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 625, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 625, "end_frame": 869, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1714, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1714, "end_frame": 1934, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1934, "end_frame": 2530, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2530, "end_frame": 2720, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2720, "end_frame": 3000, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3000, "end_frame": 3303, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3303, "end_frame": 3696, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3696, "end_frame": 4101, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666072, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 554, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 554, "end_frame": 780, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 1221, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1221, "end_frame": 1472, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1472, "end_frame": 2088, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2088, "end_frame": 2262, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2262, "end_frame": 2688, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2688, "end_frame": 2929, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2929, "end_frame": 3237, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3237, "end_frame": 3503, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 554, "end": 780, "description": "" } ] } }, { "episode_id": 666175, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 547, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 547, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 868, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 1903, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1903, "end_frame": 2117, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2117, "end_frame": 2646, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2646, "end_frame": 2836, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2836, "end_frame": 3229, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3229, "end_frame": 3437, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3437, "end_frame": 3651, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3651, "end_frame": 4079, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666250, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 550, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 550, "end_frame": 655, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 655, "end_frame": 933, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1865, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1865, "end_frame": 2098, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2098, "end_frame": 2553, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2553, "end_frame": 2681, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2681, "end_frame": 2997, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2997, "end_frame": 3303, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3303, "end_frame": 3508, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3508, "end_frame": 3769, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2681, "end": 2997, "description": "" } ] } }, { "episode_id": 666502, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 515, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 515, "end_frame": 632, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 632, "end_frame": 854, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1888, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1888, "end_frame": 2083, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2083, "end_frame": 2504, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2504, "end_frame": 2703, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2703, "end_frame": 2902, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2902, "end_frame": 3499, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3499, "end_frame": 3657, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3657, "end_frame": 3967, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666682, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 539, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 539, "end_frame": 708, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 708, "end_frame": 871, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 1820, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1820, "end_frame": 2028, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2028, "end_frame": 2540, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2540, "end_frame": 2725, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2725, "end_frame": 2995, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2995, "end_frame": 3284, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3284, "end_frame": 3585, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3585, "end_frame": 3888, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666715, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 539, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 539, "end_frame": 662, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 662, "end_frame": 939, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 939, "end_frame": 1721, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1721, "end_frame": 1954, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1954, "end_frame": 2429, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2429, "end_frame": 2616, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2616, "end_frame": 2851, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2851, "end_frame": 3120, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3120, "end_frame": 3422, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3422, "end_frame": 3711, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666738, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 538, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 538, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 815, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1673, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1673, "end_frame": 1860, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2462, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2462, "end_frame": 2654, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2654, "end_frame": 2905, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2905, "end_frame": 3166, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3166, "end_frame": 3427, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3427, "end_frame": 3661, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1860, "end": 2462, "description": "" }, { "start": 2905, "end": 3166, "description": "" } ] } }, { "episode_id": 666761, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 506, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 506, "end_frame": 626, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 626, "end_frame": 906, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1552, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1552, "end_frame": 1686, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1686, "end_frame": 2153, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2153, "end_frame": 2303, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2303, "end_frame": 2539, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2539, "end_frame": 2794, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2794, "end_frame": 3035, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3035, "end_frame": 3295, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666787, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 514, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 514, "end_frame": 641, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 641, "end_frame": 832, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1692, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1692, "end_frame": 1860, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2466, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2466, "end_frame": 2697, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2697, "end_frame": 2940, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2940, "end_frame": 3246, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3246, "end_frame": 3638, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3638, "end_frame": 3858, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1860, "end": 2466, "description": "" }, { "start": 3246, "end": 3638, "description": "" } ] } }, { "episode_id": 666823, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 513, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 513, "end_frame": 656, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 656, "end_frame": 861, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 861, "end_frame": 1476, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1476, "end_frame": 1671, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1671, "end_frame": 2096, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2096, "end_frame": 2291, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2291, "end_frame": 2665, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2665, "end_frame": 3029, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3029, "end_frame": 3290, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3290, "end_frame": 3495, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2291, "end": 2665, "description": "" } ] } }, { "episode_id": 666836, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 594, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 594, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 896, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 896, "end_frame": 1692, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1692, "end_frame": 1860, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2429, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2429, "end_frame": 2644, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2644, "end_frame": 2993, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2993, "end_frame": 3278, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3278, "end_frame": 3563, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3563, "end_frame": 3860, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2644, "end": 2993, "description": "" } ] } }, { "episode_id": 666853, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 532, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 532, "end_frame": 645, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 645, "end_frame": 905, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 905, "end_frame": 1726, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1726, "end_frame": 1952, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1952, "end_frame": 2456, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2456, "end_frame": 2614, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2614, "end_frame": 3033, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3033, "end_frame": 3254, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3254, "end_frame": 3627, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3627, "end_frame": 3876, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2614, "end": 3033, "description": "" } ] } }, { "episode_id": 666917, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 478, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 478, "end_frame": 605, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 605, "end_frame": 807, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 807, "end_frame": 1737, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1737, "end_frame": 1922, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1922, "end_frame": 2432, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2432, "end_frame": 2618, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2618, "end_frame": 2873, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2873, "end_frame": 3170, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3170, "end_frame": 3373, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3373, "end_frame": 3691, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666939, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 518, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 518, "end_frame": 640, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 640, "end_frame": 863, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 863, "end_frame": 1630, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1630, "end_frame": 1797, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1797, "end_frame": 2290, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2290, "end_frame": 2463, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2463, "end_frame": 2717, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2717, "end_frame": 2968, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2968, "end_frame": 3240, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3240, "end_frame": 3473, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666967, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 582, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 582, "end_frame": 778, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 1644, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1644, "end_frame": 1839, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1839, "end_frame": 2334, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2334, "end_frame": 2463, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2463, "end_frame": 2726, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2726, "end_frame": 3011, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3011, "end_frame": 3277, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3277, "end_frame": 3519, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 666985, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 485, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 485, "end_frame": 601, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 601, "end_frame": 801, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 801, "end_frame": 1565, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1565, "end_frame": 1766, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1766, "end_frame": 2256, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2256, "end_frame": 2409, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2409, "end_frame": 2730, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2730, "end_frame": 3083, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3083, "end_frame": 3349, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3349, "end_frame": 3631, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2409, "end": 2730, "description": "" } ] } }, { "episode_id": 667006, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 502, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 502, "end_frame": 620, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 620, "end_frame": 772, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 1678, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1678, "end_frame": 1867, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1867, "end_frame": 2352, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2352, "end_frame": 2552, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2552, "end_frame": 2881, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2881, "end_frame": 3153, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3153, "end_frame": 3464, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3464, "end_frame": 3691, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2552, "end": 2881, "description": "" } ] } }, { "episode_id": 667031, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 456, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 456, "end_frame": 580, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 580, "end_frame": 738, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 738, "end_frame": 1595, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1595, "end_frame": 1823, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1823, "end_frame": 2350, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2350, "end_frame": 2495, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2495, "end_frame": 2853, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2853, "end_frame": 3130, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3130, "end_frame": 3358, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3358, "end_frame": 3771, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2495, "end": 2853, "description": "" }, { "start": 3358, "end": 3771, "description": "" } ] } }, { "episode_id": 667056, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 625, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 625, "end_frame": 824, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 2118, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 2118, "end_frame": 2284, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2284, "end_frame": 2731, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2731, "end_frame": 2892, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2892, "end_frame": 3074, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3074, "end_frame": 3323, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3323, "end_frame": 3561, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3561, "end_frame": 3771, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667087, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 533, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 533, "end_frame": 662, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 662, "end_frame": 850, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 850, "end_frame": 1604, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1604, "end_frame": 1776, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1776, "end_frame": 2293, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2293, "end_frame": 2444, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2444, "end_frame": 2831, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2831, "end_frame": 3030, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3030, "end_frame": 3305, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3305, "end_frame": 3644, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2444, "end": 2831, "description": "" } ] } }, { "episode_id": 667115, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 522, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 522, "end_frame": 657, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 657, "end_frame": 848, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 1769, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1769, "end_frame": 1938, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1938, "end_frame": 2455, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2455, "end_frame": 2646, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2646, "end_frame": 3033, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3033, "end_frame": 3258, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3258, "end_frame": 3567, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3567, "end_frame": 3870, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2646, "end": 3033, "description": "" } ] } }, { "episode_id": 667164, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 470, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 470, "end_frame": 593, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 593, "end_frame": 818, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1580, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1580, "end_frame": 1748, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1748, "end_frame": 2300, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2300, "end_frame": 2473, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2473, "end_frame": 2731, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2731, "end_frame": 2989, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2989, "end_frame": 3267, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3267, "end_frame": 3538, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1748, "end": 2300, "description": "" } ] } }, { "episode_id": 667192, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 455, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 455, "end_frame": 578, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 578, "end_frame": 781, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 1473, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1473, "end_frame": 1695, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1695, "end_frame": 2141, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2141, "end_frame": 2288, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2288, "end_frame": 2694, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2694, "end_frame": 2877, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2877, "end_frame": 3137, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3137, "end_frame": 3371, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2288, "end": 2694, "description": "" } ] } }, { "episode_id": 667218, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 546, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 546, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 887, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 887, "end_frame": 1638, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1638, "end_frame": 1874, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1874, "end_frame": 2363, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2363, "end_frame": 2499, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2499, "end_frame": 2783, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2783, "end_frame": 3065, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3065, "end_frame": 3302, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3302, "end_frame": 3607, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667245, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 548, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 548, "end_frame": 703, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 703, "end_frame": 913, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1562, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1562, "end_frame": 1777, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1777, "end_frame": 2330, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2330, "end_frame": 2496, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2496, "end_frame": 2845, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2845, "end_frame": 3137, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3137, "end_frame": 3420, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3420, "end_frame": 3650, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2496, "end": 2845, "description": "" } ] } }, { "episode_id": 667259, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 507, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 507, "end_frame": 623, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 623, "end_frame": 821, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 821, "end_frame": 1489, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1489, "end_frame": 1712, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1712, "end_frame": 2189, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2189, "end_frame": 2320, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2320, "end_frame": 2703, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2703, "end_frame": 2958, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2958, "end_frame": 3237, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3237, "end_frame": 3480, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2320, "end": 2703, "description": "" } ] } }, { "episode_id": 667287, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 635, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 635, "end_frame": 814, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 814, "end_frame": 1652, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1652, "end_frame": 1823, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1823, "end_frame": 2269, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2269, "end_frame": 2438, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2438, "end_frame": 2832, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2832, "end_frame": 3047, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3047, "end_frame": 3288, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3288, "end_frame": 3508, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2438, "end": 2832, "description": "" } ] } }, { "episode_id": 667327, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 599, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 599, "end_frame": 756, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 1518, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1518, "end_frame": 1697, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1697, "end_frame": 2233, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2233, "end_frame": 2411, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2411, "end_frame": 2807, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2807, "end_frame": 3057, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3057, "end_frame": 3337, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3337, "end_frame": 3630, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2411, "end": 2807, "description": "" } ] } }, { "episode_id": 667339, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 581, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 581, "end_frame": 731, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 731, "end_frame": 944, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1664, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1664, "end_frame": 1882, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1882, "end_frame": 2368, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2368, "end_frame": 2549, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2549, "end_frame": 2773, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2773, "end_frame": 3061, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3061, "end_frame": 3343, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3343, "end_frame": 3679, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667353, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 545, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 545, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 872, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1705, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1705, "end_frame": 1904, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1904, "end_frame": 2422, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2422, "end_frame": 2602, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2602, "end_frame": 2861, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2861, "end_frame": 3130, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3130, "end_frame": 3374, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3374, "end_frame": 3643, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667365, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 429, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 429, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 736, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 1126, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1126, "end_frame": 1312, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1312, "end_frame": 1732, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1732, "end_frame": 1919, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1919, "end_frame": 2313, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2313, "end_frame": 2531, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2531, "end_frame": 2724, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2724, "end_frame": 2906, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1919, "end": 2313, "description": "" } ] } }, { "episode_id": 667380, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 412, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 412, "end_frame": 514, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 514, "end_frame": 701, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 701, "end_frame": 1216, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1216, "end_frame": 1384, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1384, "end_frame": 1842, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1842, "end_frame": 1978, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1978, "end_frame": 2371, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2371, "end_frame": 2642, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2642, "end_frame": 2885, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2885, "end_frame": 3199, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1978, "end": 2371, "description": "" } ] } }, { "episode_id": 667396, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 427, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 427, "end_frame": 556, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 556, "end_frame": 765, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 1230, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1230, "end_frame": 1415, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1415, "end_frame": 1886, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1886, "end_frame": 2052, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2052, "end_frame": 2460, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2460, "end_frame": 2741, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2741, "end_frame": 2921, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2921, "end_frame": 3159, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2052, "end": 2460, "description": "" } ] } }, { "episode_id": 667444, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 390, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 390, "end_frame": 477, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 477, "end_frame": 649, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 1015, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1015, "end_frame": 1167, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1167, "end_frame": 1639, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1639, "end_frame": 1795, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1795, "end_frame": 2149, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2149, "end_frame": 2400, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2400, "end_frame": 2555, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2555, "end_frame": 2785, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1167, "end": 1639, "description": "" }, { "start": 1795, "end": 2149, "description": "" } ] } }, { "episode_id": 667459, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 367, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 367, "end_frame": 472, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 472, "end_frame": 699, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 1058, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1058, "end_frame": 1260, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1260, "end_frame": 1688, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1688, "end_frame": 1833, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1833, "end_frame": 2087, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2087, "end_frame": 2338, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2338, "end_frame": 2499, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2499, "end_frame": 2742, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667479, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 373, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 373, "end_frame": 479, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 479, "end_frame": 668, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 1032, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1032, "end_frame": 1239, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1239, "end_frame": 1639, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1639, "end_frame": 1814, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1814, "end_frame": 2196, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2196, "end_frame": 2513, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2513, "end_frame": 2776, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2776, "end_frame": 3014, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667521, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 378, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 378, "end_frame": 475, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 475, "end_frame": 673, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 1100, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1100, "end_frame": 1272, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1272, "end_frame": 1725, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1725, "end_frame": 1910, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1910, "end_frame": 2262, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2262, "end_frame": 2574, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2574, "end_frame": 2795, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2795, "end_frame": 3041, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1910, "end": 2262, "description": "" } ] } }, { "episode_id": 667538, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 388, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 388, "end_frame": 522, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 522, "end_frame": 683, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 683, "end_frame": 998, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 998, "end_frame": 1236, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1236, "end_frame": 1662, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1662, "end_frame": 1816, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1816, "end_frame": 2042, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2042, "end_frame": 2241, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2241, "end_frame": 2411, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2411, "end_frame": 2645, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667563, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 418, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 418, "end_frame": 516, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 516, "end_frame": 694, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 966, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 966, "end_frame": 1159, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1159, "end_frame": 1561, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1561, "end_frame": 1726, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1726, "end_frame": 2046, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2046, "end_frame": 2305, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2305, "end_frame": 2479, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2479, "end_frame": 2664, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667586, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 382, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 382, "end_frame": 464, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 464, "end_frame": 740, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 740, "end_frame": 1273, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1273, "end_frame": 1407, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1407, "end_frame": 1880, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1880, "end_frame": 2014, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2014, "end_frame": 2395, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2395, "end_frame": 2717, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2717, "end_frame": 2901, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2901, "end_frame": 3149, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 740, "end": 1273, "description": "" }, { "start": 2014, "end": 2395, "description": "" } ] } }, { "episode_id": 667599, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 404, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 404, "end_frame": 510, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 510, "end_frame": 788, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 992, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 992, "end_frame": 1140, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1140, "end_frame": 1651, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1651, "end_frame": 1780, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1780, "end_frame": 2183, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2183, "end_frame": 2545, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2545, "end_frame": 2835, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2835, "end_frame": 3052, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1780, "end": 2183, "description": "" } ] } }, { "episode_id": 667607, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 395, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 395, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 689, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 1135, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1135, "end_frame": 1312, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1312, "end_frame": 1767, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1767, "end_frame": 1916, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1916, "end_frame": 2219, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2219, "end_frame": 2551, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2551, "end_frame": 2693, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2693, "end_frame": 2905, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1916, "end": 2219, "description": "" } ] } }, { "episode_id": 667640, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 359, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 359, "end_frame": 466, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 466, "end_frame": 667, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 929, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 929, "end_frame": 1141, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1564, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1564, "end_frame": 1737, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1737, "end_frame": 2004, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2004, "end_frame": 2251, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2251, "end_frame": 2455, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2455, "end_frame": 2657, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667673, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 376, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 376, "end_frame": 492, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 492, "end_frame": 668, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 1164, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1164, "end_frame": 1358, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1358, "end_frame": 1725, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1725, "end_frame": 1891, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1891, "end_frame": 2239, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2239, "end_frame": 2572, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2572, "end_frame": 2738, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2738, "end_frame": 2942, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1891, "end": 2239, "description": "" } ] } }, { "episode_id": 667709, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 369, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 369, "end_frame": 455, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 455, "end_frame": 673, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 939, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 939, "end_frame": 1117, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1117, "end_frame": 1566, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1566, "end_frame": 1710, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1710, "end_frame": 1922, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1922, "end_frame": 2311, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2311, "end_frame": 2463, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2463, "end_frame": 2692, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667731, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 436, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 436, "end_frame": 581, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 581, "end_frame": 821, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 821, "end_frame": 1218, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1218, "end_frame": 1332, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1332, "end_frame": 1802, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1802, "end_frame": 1935, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1935, "end_frame": 2266, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2266, "end_frame": 2503, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2503, "end_frame": 2673, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2673, "end_frame": 2957, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1935, "end": 2266, "description": "" } ] } }, { "episode_id": 667751, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 398, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 398, "end_frame": 503, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 503, "end_frame": 702, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 1082, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1082, "end_frame": 1290, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1697, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1697, "end_frame": 1863, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1863, "end_frame": 2042, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2042, "end_frame": 2317, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2317, "end_frame": 2486, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2486, "end_frame": 2647, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667769, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 358, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 358, "end_frame": 479, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 479, "end_frame": 631, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 1147, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1147, "end_frame": 1331, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1331, "end_frame": 1719, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1719, "end_frame": 1859, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1859, "end_frame": 2186, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2186, "end_frame": 2450, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2450, "end_frame": 2578, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2578, "end_frame": 2898, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1859, "end": 2186, "description": "" } ] } }, { "episode_id": 667787, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 382, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 382, "end_frame": 524, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 524, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1301, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1301, "end_frame": 1506, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1506, "end_frame": 1904, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1904, "end_frame": 2037, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2037, "end_frame": 2268, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2268, "end_frame": 2593, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2593, "end_frame": 2729, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2729, "end_frame": 2984, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 667823, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 379, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 379, "end_frame": 488, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 488, "end_frame": 712, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 1066, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1066, "end_frame": 1248, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1653, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1653, "end_frame": 1814, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1814, "end_frame": 2114, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2114, "end_frame": 2495, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2495, "end_frame": 2657, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2657, "end_frame": 2825, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1814, "end": 2114, "description": "" } ] } }, { "episode_id": 667888, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 362, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 362, "end_frame": 463, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 463, "end_frame": 717, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 1051, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1051, "end_frame": 1250, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1680, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1680, "end_frame": 1805, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 2150, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2150, "end_frame": 2462, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2462, "end_frame": 2635, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2635, "end_frame": 2796, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1805, "end": 2150, "description": "" } ] } }, { "episode_id": 667907, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 388, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 388, "end_frame": 497, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 497, "end_frame": 737, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 976, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 976, "end_frame": 1164, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1164, "end_frame": 1601, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1601, "end_frame": 1728, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1728, "end_frame": 2092, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2092, "end_frame": 2435, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2435, "end_frame": 2623, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2623, "end_frame": 2799, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1164, "end": 1601, "description": "" }, { "start": 1728, "end": 2092, "description": "" } ] } }, { "episode_id": 667938, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 379, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 379, "end_frame": 486, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 486, "end_frame": 751, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 1000, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1000, "end_frame": 1196, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1637, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1637, "end_frame": 1767, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1767, "end_frame": 2118, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2118, "end_frame": 2490, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2490, "end_frame": 2653, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2653, "end_frame": 2823, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1767, "end": 2118, "description": "" }, { "start": 2118, "end": 2490, "description": "" } ] } }, { "episode_id": 667958, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 517, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 517, "end_frame": 631, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 631, "end_frame": 862, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1148, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1148, "end_frame": 1341, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1341, "end_frame": 1753, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1753, "end_frame": 1941, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1941, "end_frame": 2193, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2193, "end_frame": 2445, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2445, "end_frame": 2664, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2664, "end_frame": 2868, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658468, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 348, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 527, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 527, "end_frame": 669, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 669, "end_frame": 871, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 1307, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1307, "end_frame": 1563, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1563, "end_frame": 2278, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2278, "end_frame": 2517, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2517, "end_frame": 2741, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2741, "end_frame": 3104, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3104, "end_frame": 3429, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3429, "end_frame": 3612, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658525, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 586, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 586, "end_frame": 714, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 714, "end_frame": 885, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 885, "end_frame": 1103, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1103, "end_frame": 1355, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1355, "end_frame": 2056, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2056, "end_frame": 2205, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2205, "end_frame": 2466, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2466, "end_frame": 2829, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2829, "end_frame": 3150, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3150, "end_frame": 3368, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658561, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 305, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 449, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 449, "end_frame": 598, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 598, "end_frame": 800, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 1066, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1066, "end_frame": 1291, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1291, "end_frame": 1988, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1988, "end_frame": 2147, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2147, "end_frame": 2342, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2342, "end_frame": 2543, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2543, "end_frame": 2824, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2824, "end_frame": 2989, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658656, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 463, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 463, "end_frame": 642, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 642, "end_frame": 809, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 1089, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1089, "end_frame": 1260, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1260, "end_frame": 1914, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1914, "end_frame": 2094, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2094, "end_frame": 2273, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2273, "end_frame": 2673, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2673, "end_frame": 2890, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2890, "end_frame": 3253, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658705, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 480, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 480, "end_frame": 658, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 658, "end_frame": 849, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 849, "end_frame": 1080, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1080, "end_frame": 1302, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1302, "end_frame": 1938, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1938, "end_frame": 2134, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2134, "end_frame": 2329, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2329, "end_frame": 2956, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2956, "end_frame": 3218, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3218, "end_frame": 3441, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 658995, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 291, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 613, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 613, "end_frame": 765, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 1012, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1012, "end_frame": 1294, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1294, "end_frame": 1947, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1947, "end_frame": 2287, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2287, "end_frame": 2507, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2507, "end_frame": 3057, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3057, "end_frame": 3318, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3318, "end_frame": 3527, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 659053, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 261, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 447, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 447, "end_frame": 594, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 594, "end_frame": 759, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1033, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1033, "end_frame": 1265, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1265, "end_frame": 2103, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2103, "end_frame": 2285, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2285, "end_frame": 2512, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2512, "end_frame": 2723, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2723, "end_frame": 3060, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3060, "end_frame": 3313, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 659310, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 434, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 434, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 706, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 919, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 919, "end_frame": 1103, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 1615, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1615, "end_frame": 1872, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1872, "end_frame": 2062, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2062, "end_frame": 2325, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2325, "end_frame": 2584, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2584, "end_frame": 2828, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 659397, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 232, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 386, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 386, "end_frame": 521, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 521, "end_frame": 669, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 669, "end_frame": 917, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 917, "end_frame": 1083, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1083, "end_frame": 1664, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1664, "end_frame": 1862, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1862, "end_frame": 2029, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2029, "end_frame": 2481, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2481, "end_frame": 2666, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2666, "end_frame": 2895, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 659425, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 239, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 376, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 376, "end_frame": 513, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 513, "end_frame": 717, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 988, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 988, "end_frame": 1167, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1167, "end_frame": 1792, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1792, "end_frame": 1977, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1977, "end_frame": 2124, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2570, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2570, "end_frame": 2764, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2764, "end_frame": 2937, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 659446, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 250, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 382, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 382, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 695, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 959, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 959, "end_frame": 1134, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1559, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1559, "end_frame": 1680, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1680, "end_frame": 1800, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1800, "end_frame": 2251, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2251, "end_frame": 2461, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2461, "end_frame": 2639, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662367, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 552, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 552, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 904, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1154, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1154, "end_frame": 1432, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1432, "end_frame": 2238, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2238, "end_frame": 2512, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2512, "end_frame": 2737, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2737, "end_frame": 3175, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3175, "end_frame": 3543, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3543, "end_frame": 3801, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1432, "end": 2238, "description": "" } ] } }, { "episode_id": 662391, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 340, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 497, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 497, "end_frame": 667, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 667, "end_frame": 865, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 865, "end_frame": 1047, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1047, "end_frame": 1249, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1249, "end_frame": 2450, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2450, "end_frame": 2769, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2769, "end_frame": 2947, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2947, "end_frame": 3327, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3327, "end_frame": 3529, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3529, "end_frame": 3728, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1249, "end": 2450, "description": "" } ] } }, { "episode_id": 662449, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 311, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 623, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 623, "end_frame": 766, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 1022, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1022, "end_frame": 1209, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1209, "end_frame": 2144, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2144, "end_frame": 2367, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2367, "end_frame": 2599, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2599, "end_frame": 3301, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3301, "end_frame": 3513, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3513, "end_frame": 3696, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1209, "end": 2144, "description": "" } ] } }, { "episode_id": 662474, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 345, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 578, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 578, "end_frame": 767, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 767, "end_frame": 988, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 988, "end_frame": 1245, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1245, "end_frame": 1522, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1522, "end_frame": 2293, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2293, "end_frame": 2542, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2542, "end_frame": 2711, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2711, "end_frame": 3180, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3180, "end_frame": 3498, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3498, "end_frame": 3755, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662506, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 325, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 611, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 611, "end_frame": 769, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 769, "end_frame": 970, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1264, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1264, "end_frame": 1519, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1519, "end_frame": 2250, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2250, "end_frame": 2463, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2463, "end_frame": 2656, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2656, "end_frame": 3039, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3039, "end_frame": 3373, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3373, "end_frame": 3692, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 662740, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 312, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 671, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 671, "end_frame": 819, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 819, "end_frame": 1086, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1086, "end_frame": 1224, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 2146, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2146, "end_frame": 2309, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2309, "end_frame": 2530, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2530, "end_frame": 2985, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2985, "end_frame": 3262, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3262, "end_frame": 3508, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668493, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 443, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 443, "end_frame": 645, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 645, "end_frame": 836, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 1073, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1073, "end_frame": 1229, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1885, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1885, "end_frame": 2175, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2175, "end_frame": 2416, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2416, "end_frame": 2937, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2937, "end_frame": 3139, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3139, "end_frame": 3365, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668548, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 405, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 405, "end_frame": 584, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 584, "end_frame": 758, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 1073, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1073, "end_frame": 1292, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 2236, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2236, "end_frame": 2534, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2534, "end_frame": 2764, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2764, "end_frame": 3276, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3276, "end_frame": 3607, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3607, "end_frame": 3888, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668665, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 473, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 473, "end_frame": 644, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 644, "end_frame": 855, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 855, "end_frame": 1372, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1372, "end_frame": 1650, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1650, "end_frame": 2266, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2266, "end_frame": 2584, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2584, "end_frame": 2823, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2823, "end_frame": 3336, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3336, "end_frame": 3582, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3582, "end_frame": 3785, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668761, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 324, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 487, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 487, "end_frame": 648, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 648, "end_frame": 861, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 861, "end_frame": 1124, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1124, "end_frame": 1302, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1302, "end_frame": 1921, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1921, "end_frame": 2143, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2143, "end_frame": 2408, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2408, "end_frame": 2904, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2904, "end_frame": 3141, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3141, "end_frame": 3415, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668805, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 514, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 514, "end_frame": 683, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 683, "end_frame": 932, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1180, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1180, "end_frame": 1428, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1428, "end_frame": 1990, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1990, "end_frame": 2255, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2255, "end_frame": 2425, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2425, "end_frame": 2917, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2917, "end_frame": 3204, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3204, "end_frame": 3461, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668838, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 480, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 480, "end_frame": 665, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 665, "end_frame": 869, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1288, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1288, "end_frame": 1434, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1434, "end_frame": 2041, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2041, "end_frame": 2299, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2299, "end_frame": 2479, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2479, "end_frame": 3091, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3091, "end_frame": 3383, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3383, "end_frame": 3629, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668927, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 671, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 671, "end_frame": 899, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 899, "end_frame": 1197, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1197, "end_frame": 1373, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1373, "end_frame": 2044, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2044, "end_frame": 2307, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2307, "end_frame": 2509, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2509, "end_frame": 2973, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2973, "end_frame": 3303, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3303, "end_frame": 3539, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669013, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 634, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 634, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1107, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1107, "end_frame": 1281, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1281, "end_frame": 1901, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1901, "end_frame": 2133, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2133, "end_frame": 2396, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2396, "end_frame": 3007, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3007, "end_frame": 3333, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3333, "end_frame": 3600, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669146, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 439, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 439, "end_frame": 607, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 607, "end_frame": 864, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 1169, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1169, "end_frame": 1314, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1314, "end_frame": 2025, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2025, "end_frame": 2245, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2245, "end_frame": 2475, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2475, "end_frame": 3019, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3019, "end_frame": 3294, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3294, "end_frame": 3548, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669172, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 662, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 662, "end_frame": 894, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1267, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1267, "end_frame": 1473, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1473, "end_frame": 2106, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2106, "end_frame": 2309, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2309, "end_frame": 2566, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2566, "end_frame": 3065, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3065, "end_frame": 3306, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3306, "end_frame": 3631, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669332, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 529, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 529, "end_frame": 716, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 716, "end_frame": 894, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1295, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1295, "end_frame": 1528, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1528, "end_frame": 1998, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1998, "end_frame": 2285, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2285, "end_frame": 2513, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2513, "end_frame": 3083, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3083, "end_frame": 3348, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3348, "end_frame": 3599, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 668116, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 395, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 395, "end_frame": 500, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 500, "end_frame": 663, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 1281, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1281, "end_frame": 1444, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1444, "end_frame": 1894, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1894, "end_frame": 2017, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2017, "end_frame": 2335, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2335, "end_frame": 2626, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2626, "end_frame": 2785, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2785, "end_frame": 3080, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2017, "end": 2335, "description": "" } ] } }, { "episode_id": 668134, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 412, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 412, "end_frame": 510, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 510, "end_frame": 656, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 1246, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1246, "end_frame": 1456, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1456, "end_frame": 1933, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1933, "end_frame": 2088, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2088, "end_frame": 2319, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2319, "end_frame": 2589, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2589, "end_frame": 2757, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 2957, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671349, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 397, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 397, "end_frame": 512, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 512, "end_frame": 705, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 705, "end_frame": 1575, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1575, "end_frame": 1781, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1781, "end_frame": 2265, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2265, "end_frame": 2439, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2439, "end_frame": 2667, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2667, "end_frame": 2990, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2990, "end_frame": 3209, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3209, "end_frame": 3363, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671374, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 400, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 400, "end_frame": 476, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 476, "end_frame": 699, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 1270, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1270, "end_frame": 1504, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1504, "end_frame": 2036, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2036, "end_frame": 2202, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2202, "end_frame": 2488, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2488, "end_frame": 2754, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2754, "end_frame": 2949, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2949, "end_frame": 3201, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671392, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 429, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 429, "end_frame": 543, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 543, "end_frame": 754, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 754, "end_frame": 1400, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1400, "end_frame": 1676, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1676, "end_frame": 2338, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2338, "end_frame": 2518, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2518, "end_frame": 2924, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2924, "end_frame": 3234, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3234, "end_frame": 3402, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3402, "end_frame": 3717, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1676, "end": 2338, "description": "" }, { "start": 2518, "end": 2924, "description": "" } ] } }, { "episode_id": 671414, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 436, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 436, "end_frame": 550, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 550, "end_frame": 778, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 1592, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1592, "end_frame": 1808, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1808, "end_frame": 2370, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2370, "end_frame": 2562, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2562, "end_frame": 2805, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2805, "end_frame": 3028, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3028, "end_frame": 3236, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3236, "end_frame": 3505, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671433, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 417, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 417, "end_frame": 519, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 519, "end_frame": 756, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 1507, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1507, "end_frame": 1799, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1799, "end_frame": 2324, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2324, "end_frame": 2479, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2479, "end_frame": 2705, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2705, "end_frame": 2931, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2931, "end_frame": 3245, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3245, "end_frame": 3512, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671476, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 575, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 575, "end_frame": 799, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 1270, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1270, "end_frame": 1478, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1478, "end_frame": 2059, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2059, "end_frame": 2207, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2207, "end_frame": 2463, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2463, "end_frame": 2734, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2734, "end_frame": 2972, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2972, "end_frame": 3224, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671533, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 436, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 436, "end_frame": 546, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 546, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1243, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1243, "end_frame": 1490, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1490, "end_frame": 2120, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2120, "end_frame": 2276, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2276, "end_frame": 2577, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2577, "end_frame": 2958, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2958, "end_frame": 3148, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3148, "end_frame": 3429, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671574, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 437, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 437, "end_frame": 561, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 561, "end_frame": 772, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 1595, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1595, "end_frame": 1824, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1824, "end_frame": 2419, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2419, "end_frame": 2594, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2594, "end_frame": 2826, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2826, "end_frame": 3047, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3047, "end_frame": 3242, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3242, "end_frame": 3525, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671595, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 595, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 595, "end_frame": 822, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 822, "end_frame": 1384, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1384, "end_frame": 1595, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1595, "end_frame": 2162, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2162, "end_frame": 2322, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2322, "end_frame": 2583, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2583, "end_frame": 2827, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2827, "end_frame": 3009, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3009, "end_frame": 3285, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671638, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 544, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 544, "end_frame": 782, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 1580, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1580, "end_frame": 1789, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1789, "end_frame": 2362, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2362, "end_frame": 2531, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2531, "end_frame": 2774, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2774, "end_frame": 3033, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3033, "end_frame": 3239, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3239, "end_frame": 3566, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671675, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 407, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 407, "end_frame": 502, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 502, "end_frame": 743, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 1193, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1193, "end_frame": 1404, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 2050, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2050, "end_frame": 2220, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2220, "end_frame": 2504, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2504, "end_frame": 2765, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2765, "end_frame": 2982, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2982, "end_frame": 3214, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671701, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 710, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 1282, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1282, "end_frame": 1500, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1500, "end_frame": 2054, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2054, "end_frame": 2223, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2223, "end_frame": 2514, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2514, "end_frame": 2815, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2815, "end_frame": 2943, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2943, "end_frame": 3372, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671731, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 471, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 471, "end_frame": 581, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 581, "end_frame": 797, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 1215, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1215, "end_frame": 1461, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1461, "end_frame": 2002, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2002, "end_frame": 2156, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2156, "end_frame": 2425, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2425, "end_frame": 2679, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2679, "end_frame": 2914, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2914, "end_frame": 3198, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671849, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 437, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 437, "end_frame": 553, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 553, "end_frame": 769, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 1639, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1639, "end_frame": 1890, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1890, "end_frame": 2440, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2440, "end_frame": 2613, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2613, "end_frame": 2887, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2887, "end_frame": 3230, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3230, "end_frame": 3398, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3398, "end_frame": 3604, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671865, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 522, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 522, "end_frame": 715, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 1360, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1360, "end_frame": 1595, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1595, "end_frame": 2127, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2127, "end_frame": 2268, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2268, "end_frame": 2550, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2550, "end_frame": 2818, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2818, "end_frame": 3016, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3016, "end_frame": 3214, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671882, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 391, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 391, "end_frame": 525, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 525, "end_frame": 718, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 1489, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1489, "end_frame": 1736, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1736, "end_frame": 2282, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2282, "end_frame": 2464, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2464, "end_frame": 2727, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2727, "end_frame": 3102, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3102, "end_frame": 3407, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3407, "end_frame": 3664, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671926, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 406, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 406, "end_frame": 526, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 526, "end_frame": 734, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 734, "end_frame": 1504, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1504, "end_frame": 1723, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1723, "end_frame": 2270, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2270, "end_frame": 2483, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2483, "end_frame": 2759, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2759, "end_frame": 3043, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3043, "end_frame": 3305, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3305, "end_frame": 3587, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671962, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 428, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 428, "end_frame": 567, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 567, "end_frame": 820, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 1362, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1362, "end_frame": 1594, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1594, "end_frame": 2110, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2110, "end_frame": 2311, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2311, "end_frame": 2528, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2528, "end_frame": 3012, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3012, "end_frame": 3250, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3250, "end_frame": 3533, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 671983, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 393, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 393, "end_frame": 499, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 499, "end_frame": 703, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 1159, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1159, "end_frame": 1401, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1401, "end_frame": 1930, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1930, "end_frame": 2119, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2119, "end_frame": 2420, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2420, "end_frame": 2832, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2832, "end_frame": 3026, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3026, "end_frame": 3322, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672022, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 551, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 551, "end_frame": 802, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1609, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1609, "end_frame": 1854, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1854, "end_frame": 2399, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2399, "end_frame": 2566, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2566, "end_frame": 2817, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2817, "end_frame": 3056, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3056, "end_frame": 3307, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3307, "end_frame": 3724, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672045, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 541, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 541, "end_frame": 806, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 1296, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1296, "end_frame": 1557, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1557, "end_frame": 2087, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2087, "end_frame": 2253, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2253, "end_frame": 2533, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2533, "end_frame": 2958, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2958, "end_frame": 3129, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3129, "end_frame": 3424, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672065, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 399, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 399, "end_frame": 486, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 486, "end_frame": 735, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 1273, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1273, "end_frame": 1473, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1473, "end_frame": 1981, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1981, "end_frame": 2160, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2160, "end_frame": 2437, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2437, "end_frame": 2724, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2724, "end_frame": 2887, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2887, "end_frame": 3129, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672084, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 381, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 381, "end_frame": 475, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 475, "end_frame": 765, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 1278, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1278, "end_frame": 1546, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1546, "end_frame": 2035, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2035, "end_frame": 2223, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2223, "end_frame": 2446, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2446, "end_frame": 2747, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2747, "end_frame": 2888, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3164, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1278, "end": 1546, "description": "" } ] } }, { "episode_id": 672111, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 489, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 489, "end_frame": 734, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 734, "end_frame": 1389, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1389, "end_frame": 1675, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1675, "end_frame": 2194, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2194, "end_frame": 2391, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2391, "end_frame": 2668, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2668, "end_frame": 2979, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2979, "end_frame": 3197, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3197, "end_frame": 3453, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672182, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 438, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 438, "end_frame": 555, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 555, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1504, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1504, "end_frame": 1741, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1741, "end_frame": 2296, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2296, "end_frame": 2458, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2458, "end_frame": 2701, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2701, "end_frame": 3023, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3023, "end_frame": 3233, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3233, "end_frame": 3467, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672279, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 535, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 535, "end_frame": 763, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 763, "end_frame": 1681, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1681, "end_frame": 1909, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1909, "end_frame": 2492, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2492, "end_frame": 2708, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2708, "end_frame": 2956, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2956, "end_frame": 3346, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3346, "end_frame": 3494, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3494, "end_frame": 3716, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1681, "end": 1909, "description": "" } ] } }, { "episode_id": 672310, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 429, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 429, "end_frame": 515, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 515, "end_frame": 716, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 1816, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1816, "end_frame": 2062, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2062, "end_frame": 2574, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2574, "end_frame": 2768, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2768, "end_frame": 3013, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3013, "end_frame": 3491, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3491, "end_frame": 3698, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3698, "end_frame": 3923, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672333, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 462, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 462, "end_frame": 584, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 584, "end_frame": 803, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 803, "end_frame": 1511, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1511, "end_frame": 1719, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1719, "end_frame": 2231, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2231, "end_frame": 2424, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2424, "end_frame": 2678, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2678, "end_frame": 2987, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2987, "end_frame": 3153, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3153, "end_frame": 3417, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672362, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 448, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 448, "end_frame": 556, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 556, "end_frame": 792, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 1709, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1709, "end_frame": 1954, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1954, "end_frame": 2488, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2488, "end_frame": 2684, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2684, "end_frame": 2966, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2966, "end_frame": 3238, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3238, "end_frame": 3503, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3503, "end_frame": 3742, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672423, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 519, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 519, "end_frame": 752, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 1540, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1540, "end_frame": 1769, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1769, "end_frame": 2279, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2279, "end_frame": 2423, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2423, "end_frame": 2696, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2696, "end_frame": 2991, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2991, "end_frame": 3184, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3184, "end_frame": 3444, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672450, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 565, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 565, "end_frame": 691, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 691, "end_frame": 960, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1574, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1574, "end_frame": 1815, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1815, "end_frame": 2308, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2308, "end_frame": 2473, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2473, "end_frame": 2731, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2731, "end_frame": 3186, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3186, "end_frame": 3356, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3356, "end_frame": 3635, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672474, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 474, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 474, "end_frame": 580, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 580, "end_frame": 799, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 1433, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1433, "end_frame": 1691, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1691, "end_frame": 2194, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2194, "end_frame": 2375, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2375, "end_frame": 2626, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2626, "end_frame": 3005, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3005, "end_frame": 3136, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3136, "end_frame": 3346, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672496, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 459, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 459, "end_frame": 561, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 561, "end_frame": 805, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 1486, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1486, "end_frame": 1681, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1681, "end_frame": 2160, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2160, "end_frame": 2352, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2352, "end_frame": 2602, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2602, "end_frame": 2928, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2928, "end_frame": 3073, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3073, "end_frame": 3289, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672521, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 461, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 461, "end_frame": 551, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 551, "end_frame": 769, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 1566, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1566, "end_frame": 1768, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1768, "end_frame": 2313, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2313, "end_frame": 2525, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2525, "end_frame": 2776, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2776, "end_frame": 3123, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3123, "end_frame": 3291, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3291, "end_frame": 3518, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672556, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 494, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 494, "end_frame": 596, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 596, "end_frame": 798, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1397, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1397, "end_frame": 1666, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 2205, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2205, "end_frame": 2385, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2385, "end_frame": 2635, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2635, "end_frame": 3003, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3003, "end_frame": 3174, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3174, "end_frame": 3400, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672582, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 540, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 540, "end_frame": 642, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 642, "end_frame": 842, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1625, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1625, "end_frame": 1895, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1895, "end_frame": 2435, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2435, "end_frame": 2661, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2661, "end_frame": 2904, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2904, "end_frame": 3154, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3154, "end_frame": 3374, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3374, "end_frame": 3698, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672613, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 456, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 456, "end_frame": 574, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 574, "end_frame": 767, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 767, "end_frame": 1593, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1593, "end_frame": 1834, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1834, "end_frame": 2381, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2381, "end_frame": 2592, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2592, "end_frame": 2880, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2880, "end_frame": 3196, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3196, "end_frame": 3389, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3389, "end_frame": 3679, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672662, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 460, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 460, "end_frame": 585, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 585, "end_frame": 824, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1462, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1462, "end_frame": 1661, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1661, "end_frame": 2251, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2251, "end_frame": 2444, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2444, "end_frame": 2727, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2727, "end_frame": 3037, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3037, "end_frame": 3231, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3231, "end_frame": 3483, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1661, "end": 2251, "description": "" } ] } }, { "episode_id": 672710, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 467, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 467, "end_frame": 568, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 568, "end_frame": 790, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 1552, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1552, "end_frame": 1806, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1806, "end_frame": 2299, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2299, "end_frame": 2495, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2495, "end_frame": 2706, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2706, "end_frame": 2971, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2971, "end_frame": 3106, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3106, "end_frame": 3277, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672733, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 443, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 443, "end_frame": 567, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 567, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1439, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1439, "end_frame": 1630, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1630, "end_frame": 2093, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2093, "end_frame": 2286, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2286, "end_frame": 2516, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2516, "end_frame": 2791, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2791, "end_frame": 2951, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2951, "end_frame": 3167, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672759, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 780, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 1463, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1463, "end_frame": 1695, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1695, "end_frame": 2224, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2224, "end_frame": 2413, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2413, "end_frame": 2642, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2642, "end_frame": 3060, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3060, "end_frame": 3211, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3211, "end_frame": 3477, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672786, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 572, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 572, "end_frame": 787, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 787, "end_frame": 1402, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1402, "end_frame": 1600, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1600, "end_frame": 2114, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2114, "end_frame": 2314, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2314, "end_frame": 2567, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2567, "end_frame": 2874, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2874, "end_frame": 3017, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3017, "end_frame": 3246, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672812, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 478, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 478, "end_frame": 576, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 576, "end_frame": 782, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 1576, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1576, "end_frame": 1782, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1782, "end_frame": 2279, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2279, "end_frame": 2453, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2453, "end_frame": 2713, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2713, "end_frame": 3115, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3115, "end_frame": 3323, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3323, "end_frame": 3558, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672844, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 601, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 601, "end_frame": 831, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 831, "end_frame": 1612, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1612, "end_frame": 1858, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1858, "end_frame": 2331, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2331, "end_frame": 2527, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2527, "end_frame": 2757, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2757, "end_frame": 3087, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3087, "end_frame": 3261, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3261, "end_frame": 3507, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672874, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 518, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 518, "end_frame": 618, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 618, "end_frame": 831, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 831, "end_frame": 1731, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1731, "end_frame": 1953, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1953, "end_frame": 2362, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2362, "end_frame": 2534, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2534, "end_frame": 2767, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2767, "end_frame": 3090, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3090, "end_frame": 3268, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3268, "end_frame": 3488, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672923, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 470, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 470, "end_frame": 583, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 583, "end_frame": 787, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 787, "end_frame": 1400, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1400, "end_frame": 1620, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1620, "end_frame": 2160, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2160, "end_frame": 2343, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2343, "end_frame": 2599, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2599, "end_frame": 2962, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2962, "end_frame": 3145, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3145, "end_frame": 3408, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672951, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 437, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 437, "end_frame": 538, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 538, "end_frame": 766, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 1505, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1505, "end_frame": 1711, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1711, "end_frame": 2276, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2276, "end_frame": 2450, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2450, "end_frame": 2701, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2701, "end_frame": 2973, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2973, "end_frame": 3117, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3117, "end_frame": 3389, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 672979, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 597, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 597, "end_frame": 799, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 1529, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1529, "end_frame": 1734, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1734, "end_frame": 2255, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2255, "end_frame": 2436, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2436, "end_frame": 2678, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2678, "end_frame": 3003, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3003, "end_frame": 3160, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3160, "end_frame": 3401, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673009, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 490, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 490, "end_frame": 612, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 612, "end_frame": 826, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 826, "end_frame": 1755, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1755, "end_frame": 1993, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1993, "end_frame": 2500, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2500, "end_frame": 2694, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2694, "end_frame": 2925, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2925, "end_frame": 3449, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3449, "end_frame": 3615, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3615, "end_frame": 3857, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673036, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 438, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 438, "end_frame": 542, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 542, "end_frame": 753, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 1391, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1391, "end_frame": 1573, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1573, "end_frame": 2049, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2049, "end_frame": 2219, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2219, "end_frame": 2484, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2484, "end_frame": 2764, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2764, "end_frame": 2934, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2934, "end_frame": 3154, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673084, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 496, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 496, "end_frame": 596, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 596, "end_frame": 850, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 850, "end_frame": 1613, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1613, "end_frame": 1839, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1839, "end_frame": 2381, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2381, "end_frame": 2548, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2548, "end_frame": 2802, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2802, "end_frame": 3166, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3166, "end_frame": 3323, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3323, "end_frame": 3552, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673115, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 488, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 488, "end_frame": 606, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 606, "end_frame": 805, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 1470, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1470, "end_frame": 1749, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1749, "end_frame": 2272, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2272, "end_frame": 2480, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2480, "end_frame": 2710, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2710, "end_frame": 3031, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3031, "end_frame": 3266, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3266, "end_frame": 3487, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673137, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 427, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 427, "end_frame": 526, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 526, "end_frame": 721, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 1477, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1477, "end_frame": 1694, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1694, "end_frame": 2163, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2163, "end_frame": 2351, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2351, "end_frame": 2597, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2597, "end_frame": 3130, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3130, "end_frame": 3391, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3391, "end_frame": 3611, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673223, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 609, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 609, "end_frame": 833, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 1513, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1513, "end_frame": 1733, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1733, "end_frame": 2195, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2195, "end_frame": 2390, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2390, "end_frame": 2634, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2634, "end_frame": 2925, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2925, "end_frame": 3096, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3096, "end_frame": 3334, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673253, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 536, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 536, "end_frame": 749, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 749, "end_frame": 1504, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1504, "end_frame": 1720, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1720, "end_frame": 2150, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2150, "end_frame": 2317, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2317, "end_frame": 2545, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2545, "end_frame": 2882, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2882, "end_frame": 3032, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3032, "end_frame": 3242, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673297, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 514, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 514, "end_frame": 730, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 1302, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1302, "end_frame": 1547, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1547, "end_frame": 2071, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2071, "end_frame": 2243, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2243, "end_frame": 2507, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2507, "end_frame": 2894, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2894, "end_frame": 3070, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3070, "end_frame": 3320, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673341, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 406, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 406, "end_frame": 519, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 519, "end_frame": 722, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 1658, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1658, "end_frame": 1888, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1888, "end_frame": 2375, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2375, "end_frame": 2556, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2556, "end_frame": 2802, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2802, "end_frame": 3123, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3123, "end_frame": 3262, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3262, "end_frame": 3503, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673380, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 428, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 428, "end_frame": 533, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 533, "end_frame": 750, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 1304, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1304, "end_frame": 1531, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1531, "end_frame": 2069, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2069, "end_frame": 2265, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2265, "end_frame": 2486, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2486, "end_frame": 3125, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3125, "end_frame": 3299, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3299, "end_frame": 3563, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2486, "end": 3125, "description": "" } ] } }, { "episode_id": 673458, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 440, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 440, "end_frame": 548, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 548, "end_frame": 746, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 1532, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1532, "end_frame": 1759, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1759, "end_frame": 2189, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2189, "end_frame": 2367, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2367, "end_frame": 2619, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2619, "end_frame": 2930, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2930, "end_frame": 3123, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3123, "end_frame": 3365, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673561, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 613, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 613, "end_frame": 815, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1462, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1462, "end_frame": 1699, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1699, "end_frame": 2188, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2188, "end_frame": 2366, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2366, "end_frame": 2613, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2613, "end_frame": 2949, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2949, "end_frame": 3112, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3112, "end_frame": 3334, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673588, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 499, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 499, "end_frame": 599, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 599, "end_frame": 823, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 1387, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1387, "end_frame": 1607, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1607, "end_frame": 2086, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2086, "end_frame": 2275, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2275, "end_frame": 2555, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2555, "end_frame": 2879, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2879, "end_frame": 3079, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3079, "end_frame": 3338, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673624, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 430, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 430, "end_frame": 549, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 549, "end_frame": 722, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 1439, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1439, "end_frame": 1666, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 2136, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2136, "end_frame": 2299, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2299, "end_frame": 2531, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2531, "end_frame": 2888, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3070, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3070, "end_frame": 3327, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673658, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 462, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 462, "end_frame": 573, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 573, "end_frame": 789, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 789, "end_frame": 1473, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1473, "end_frame": 1724, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1724, "end_frame": 2231, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2231, "end_frame": 2397, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2397, "end_frame": 2644, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2644, "end_frame": 3005, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3005, "end_frame": 3181, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3181, "end_frame": 3408, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673686, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 499, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 499, "end_frame": 602, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 602, "end_frame": 812, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 1423, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1423, "end_frame": 1624, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1624, "end_frame": 2069, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2069, "end_frame": 2220, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2220, "end_frame": 2494, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2494, "end_frame": 2881, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2881, "end_frame": 3052, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3052, "end_frame": 3306, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673716, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 474, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 474, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 756, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 1343, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1343, "end_frame": 1561, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1561, "end_frame": 1990, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1990, "end_frame": 2178, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2178, "end_frame": 2455, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2455, "end_frame": 2775, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2775, "end_frame": 2951, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2951, "end_frame": 3186, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673748, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 481, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 481, "end_frame": 600, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 600, "end_frame": 798, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1558, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1558, "end_frame": 1797, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1797, "end_frame": 2250, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2250, "end_frame": 2429, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2429, "end_frame": 2691, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2691, "end_frame": 3039, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3039, "end_frame": 3213, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3213, "end_frame": 3506, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673779, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 480, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 480, "end_frame": 611, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 611, "end_frame": 782, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 1437, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1437, "end_frame": 1668, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1668, "end_frame": 2158, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2158, "end_frame": 2324, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2324, "end_frame": 2590, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2590, "end_frame": 2913, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2913, "end_frame": 3075, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3075, "end_frame": 3332, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673812, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 507, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 507, "end_frame": 617, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 617, "end_frame": 805, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 1507, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1507, "end_frame": 1737, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1737, "end_frame": 2146, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2146, "end_frame": 2270, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2270, "end_frame": 2585, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2585, "end_frame": 2874, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2874, "end_frame": 3053, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3053, "end_frame": 3262, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673861, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 520, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 520, "end_frame": 699, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 1305, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1305, "end_frame": 1531, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1531, "end_frame": 1974, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1974, "end_frame": 2170, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2170, "end_frame": 2439, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2439, "end_frame": 2844, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2844, "end_frame": 3006, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3006, "end_frame": 3266, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673896, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 382, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 382, "end_frame": 486, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 486, "end_frame": 664, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 1280, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1280, "end_frame": 1497, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1497, "end_frame": 2017, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2017, "end_frame": 2178, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2178, "end_frame": 2464, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2464, "end_frame": 2811, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2811, "end_frame": 2976, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2976, "end_frame": 3245, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673923, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 762, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 1254, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1254, "end_frame": 1482, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1482, "end_frame": 1917, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1917, "end_frame": 2107, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2107, "end_frame": 2374, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2374, "end_frame": 2705, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2705, "end_frame": 2873, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2873, "end_frame": 3128, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673966, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 412, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 412, "end_frame": 516, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 516, "end_frame": 699, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 1047, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1047, "end_frame": 1231, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1647, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1647, "end_frame": 1823, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1823, "end_frame": 2122, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2122, "end_frame": 2478, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2478, "end_frame": 2630, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2630, "end_frame": 2878, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 673989, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 354, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 354, "end_frame": 442, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 442, "end_frame": 655, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 994, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 994, "end_frame": 1211, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1744, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1744, "end_frame": 1901, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1901, "end_frame": 2179, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2179, "end_frame": 2491, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2491, "end_frame": 2666, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2666, "end_frame": 2918, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674014, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 755, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 1322, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1322, "end_frame": 1599, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1599, "end_frame": 2082, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2082, "end_frame": 2257, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2257, "end_frame": 2516, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2516, "end_frame": 2916, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2916, "end_frame": 3127, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3127, "end_frame": 3390, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674039, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 366, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 366, "end_frame": 458, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 458, "end_frame": 622, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 944, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 944, "end_frame": 1171, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1654, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1654, "end_frame": 1808, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1808, "end_frame": 2097, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2097, "end_frame": 2424, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2424, "end_frame": 2591, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2591, "end_frame": 2793, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674084, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 393, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 393, "end_frame": 513, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 513, "end_frame": 662, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 991, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 991, "end_frame": 1192, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1717, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1717, "end_frame": 1863, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1863, "end_frame": 2149, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2149, "end_frame": 2469, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2469, "end_frame": 2653, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2653, "end_frame": 2939, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674113, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 532, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 532, "end_frame": 751, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 1278, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1278, "end_frame": 1493, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1493, "end_frame": 2038, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2038, "end_frame": 2194, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2194, "end_frame": 2480, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2480, "end_frame": 2887, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2887, "end_frame": 3111, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3111, "end_frame": 3352, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674146, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 424, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 424, "end_frame": 585, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 585, "end_frame": 753, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 1124, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1124, "end_frame": 1315, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1315, "end_frame": 1832, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1832, "end_frame": 1988, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1988, "end_frame": 2275, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2275, "end_frame": 2566, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2566, "end_frame": 2696, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2696, "end_frame": 2910, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674175, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 402, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 402, "end_frame": 498, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 498, "end_frame": 682, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 1119, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1119, "end_frame": 1307, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1307, "end_frame": 1755, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1755, "end_frame": 1901, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1901, "end_frame": 2208, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2208, "end_frame": 2518, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2518, "end_frame": 2679, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2679, "end_frame": 2898, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674197, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 456, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 456, "end_frame": 568, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 568, "end_frame": 730, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 1101, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1101, "end_frame": 1294, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1294, "end_frame": 1773, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1773, "end_frame": 1909, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1909, "end_frame": 2206, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2206, "end_frame": 2557, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2557, "end_frame": 2701, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2701, "end_frame": 2932, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674235, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 398, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 398, "end_frame": 500, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 500, "end_frame": 682, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 1057, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1057, "end_frame": 1254, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1254, "end_frame": 1765, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1765, "end_frame": 1887, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1887, "end_frame": 2148, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2148, "end_frame": 2447, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2447, "end_frame": 2625, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2625, "end_frame": 2845, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674265, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 409, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 409, "end_frame": 525, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 525, "end_frame": 726, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 726, "end_frame": 1143, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1143, "end_frame": 1336, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1336, "end_frame": 1865, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1865, "end_frame": 1989, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1989, "end_frame": 2294, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2294, "end_frame": 2611, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2611, "end_frame": 2779, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2779, "end_frame": 3016, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674287, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 397, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 397, "end_frame": 502, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 502, "end_frame": 685, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 1037, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1037, "end_frame": 1213, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1213, "end_frame": 1745, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1745, "end_frame": 1888, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1888, "end_frame": 2154, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2154, "end_frame": 2461, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2461, "end_frame": 2607, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2607, "end_frame": 2820, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674309, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 374, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 374, "end_frame": 462, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 462, "end_frame": 618, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 618, "end_frame": 945, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 945, "end_frame": 1134, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1581, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1581, "end_frame": 1719, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1719, "end_frame": 1999, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1999, "end_frame": 2304, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2304, "end_frame": 2486, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2486, "end_frame": 2708, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674328, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 376, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 376, "end_frame": 481, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 481, "end_frame": 633, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 1197, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1197, "end_frame": 1394, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1394, "end_frame": 1914, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1914, "end_frame": 2070, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2070, "end_frame": 2335, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2335, "end_frame": 2687, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2687, "end_frame": 2843, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2843, "end_frame": 3071, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674348, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 362, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 362, "end_frame": 447, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 447, "end_frame": 603, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 909, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 909, "end_frame": 1134, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1587, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1587, "end_frame": 1742, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1742, "end_frame": 1978, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1978, "end_frame": 2310, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2310, "end_frame": 2457, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2457, "end_frame": 2703, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674366, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 406, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 406, "end_frame": 511, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 511, "end_frame": 672, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 672, "end_frame": 983, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 983, "end_frame": 1186, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1186, "end_frame": 1712, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1712, "end_frame": 1886, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1886, "end_frame": 2128, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2128, "end_frame": 2446, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2446, "end_frame": 2713, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2713, "end_frame": 2957, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674387, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 435, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 435, "end_frame": 544, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 544, "end_frame": 746, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 1213, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1213, "end_frame": 1384, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1384, "end_frame": 1895, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1895, "end_frame": 2058, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2058, "end_frame": 2311, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2311, "end_frame": 2583, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2583, "end_frame": 2773, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2773, "end_frame": 2994, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674411, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 759, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1060, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1060, "end_frame": 1229, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1642, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1642, "end_frame": 2037, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2037, "end_frame": 2271, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2271, "end_frame": 2360, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2360, "end_frame": 2533, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2533, "end_frame": 2721, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 674514, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 422, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 422, "end_frame": 537, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 537, "end_frame": 697, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 697, "end_frame": 1091, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1091, "end_frame": 1288, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1763, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1763, "end_frame": 1903, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1903, "end_frame": 2190, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2190, "end_frame": 2739, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2739, "end_frame": 2903, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2903, "end_frame": 3092, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2190, "end": 2739, "description": "" } ] } }, { "episode_id": 674544, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 379, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 379, "end_frame": 463, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 463, "end_frame": 639, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 996, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 996, "end_frame": 1186, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1186, "end_frame": 1587, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1587, "end_frame": 1715, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1715, "end_frame": 1959, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1959, "end_frame": 2343, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2343, "end_frame": 2507, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2507, "end_frame": 2696, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677644, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 374, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 374, "end_frame": 456, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 456, "end_frame": 668, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 1128, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1128, "end_frame": 1313, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1313, "end_frame": 1795, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1795, "end_frame": 1962, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1962, "end_frame": 2192, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2192, "end_frame": 2535, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2535, "end_frame": 2702, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2702, "end_frame": 2901, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677655, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 356, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 356, "end_frame": 437, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 437, "end_frame": 645, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 955, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 955, "end_frame": 1150, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1150, "end_frame": 1612, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1612, "end_frame": 1795, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1795, "end_frame": 2028, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2028, "end_frame": 2368, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2368, "end_frame": 2516, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2516, "end_frame": 2758, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677668, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 394, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 394, "end_frame": 494, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 494, "end_frame": 744, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 1107, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1107, "end_frame": 1321, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1321, "end_frame": 1846, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1846, "end_frame": 2003, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2003, "end_frame": 2248, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2248, "end_frame": 2568, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2568, "end_frame": 2734, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2734, "end_frame": 2979, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677685, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 409, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 409, "end_frame": 495, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 495, "end_frame": 773, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 1141, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1141, "end_frame": 1382, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1382, "end_frame": 1950, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1950, "end_frame": 2118, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2118, "end_frame": 2368, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2368, "end_frame": 2632, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2632, "end_frame": 2795, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2795, "end_frame": 3000, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677706, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 413, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 413, "end_frame": 536, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 536, "end_frame": 767, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 767, "end_frame": 1253, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1253, "end_frame": 1507, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1507, "end_frame": 2043, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2043, "end_frame": 2195, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2195, "end_frame": 2451, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2451, "end_frame": 2687, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2687, "end_frame": 2851, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2851, "end_frame": 3060, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677726, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 424, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 424, "end_frame": 539, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 539, "end_frame": 800, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 1294, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1294, "end_frame": 1504, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1504, "end_frame": 1982, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1982, "end_frame": 2173, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2173, "end_frame": 2377, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2377, "end_frame": 2697, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2697, "end_frame": 2888, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3121, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677738, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 388, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 388, "end_frame": 476, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 476, "end_frame": 750, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 1090, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1090, "end_frame": 1324, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1324, "end_frame": 1860, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1860, "end_frame": 2047, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2047, "end_frame": 2324, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2324, "end_frame": 2619, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2619, "end_frame": 2811, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2811, "end_frame": 3064, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677756, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 397, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 397, "end_frame": 506, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 506, "end_frame": 744, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 1172, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1172, "end_frame": 1432, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1432, "end_frame": 1958, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1958, "end_frame": 2137, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2137, "end_frame": 2347, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2347, "end_frame": 2660, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2660, "end_frame": 2915, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2915, "end_frame": 3113, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677826, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 419, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 419, "end_frame": 504, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 504, "end_frame": 824, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1231, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1231, "end_frame": 1491, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1491, "end_frame": 2064, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2064, "end_frame": 2155, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2155, "end_frame": 2383, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2383, "end_frame": 2713, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2713, "end_frame": 2867, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2867, "end_frame": 3086, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677850, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 427, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 427, "end_frame": 527, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 527, "end_frame": 749, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 749, "end_frame": 1219, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1219, "end_frame": 1441, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1441, "end_frame": 1920, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1920, "end_frame": 2061, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2061, "end_frame": 2310, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2310, "end_frame": 2628, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2628, "end_frame": 2789, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2789, "end_frame": 3023, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677872, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 415, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 415, "end_frame": 510, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 510, "end_frame": 718, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 1174, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1174, "end_frame": 1409, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1409, "end_frame": 1937, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1937, "end_frame": 2086, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2086, "end_frame": 2388, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2388, "end_frame": 2691, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2691, "end_frame": 2903, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2903, "end_frame": 3165, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677893, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 394, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 394, "end_frame": 472, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 472, "end_frame": 688, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 1181, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1181, "end_frame": 1388, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1388, "end_frame": 1926, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1926, "end_frame": 2071, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2071, "end_frame": 2357, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2357, "end_frame": 2680, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2680, "end_frame": 2838, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2838, "end_frame": 3078, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677911, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 517, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 517, "end_frame": 771, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 1246, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1246, "end_frame": 1479, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1479, "end_frame": 2008, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2008, "end_frame": 2142, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2142, "end_frame": 2425, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2425, "end_frame": 2734, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2734, "end_frame": 2909, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2909, "end_frame": 3134, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677939, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 420, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 420, "end_frame": 515, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 515, "end_frame": 713, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 1440, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1440, "end_frame": 1652, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1652, "end_frame": 2180, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2180, "end_frame": 2329, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2329, "end_frame": 2600, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2600, "end_frame": 3002, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3002, "end_frame": 3187, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3187, "end_frame": 3399, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 677964, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 432, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 432, "end_frame": 532, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 532, "end_frame": 759, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1305, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1305, "end_frame": 1528, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1528, "end_frame": 2082, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2082, "end_frame": 2273, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2273, "end_frame": 2564, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2564, "end_frame": 2992, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2992, "end_frame": 3183, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3183, "end_frame": 3410, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678008, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 600, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 600, "end_frame": 698, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 698, "end_frame": 885, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 885, "end_frame": 1696, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1696, "end_frame": 1937, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1937, "end_frame": 2473, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2473, "end_frame": 2655, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2655, "end_frame": 2930, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2930, "end_frame": 3314, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3314, "end_frame": 3486, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3486, "end_frame": 3727, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678038, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 539, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 539, "end_frame": 663, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 663, "end_frame": 852, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1516, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1516, "end_frame": 1779, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1779, "end_frame": 2299, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2299, "end_frame": 2479, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2479, "end_frame": 2778, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2778, "end_frame": 3073, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3073, "end_frame": 3258, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3258, "end_frame": 3506, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678067, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 475, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 475, "end_frame": 568, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 568, "end_frame": 808, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 1548, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1548, "end_frame": 1793, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1793, "end_frame": 2313, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2313, "end_frame": 2484, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2484, "end_frame": 2763, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2763, "end_frame": 3200, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3200, "end_frame": 3445, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3445, "end_frame": 3714, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678096, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 502, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 502, "end_frame": 595, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 595, "end_frame": 802, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1973, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1973, "end_frame": 2194, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2194, "end_frame": 2686, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2686, "end_frame": 2824, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2824, "end_frame": 3075, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3075, "end_frame": 3400, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3400, "end_frame": 3557, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3557, "end_frame": 3779, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678127, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 531, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 531, "end_frame": 641, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 641, "end_frame": 862, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1689, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1689, "end_frame": 1970, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1970, "end_frame": 2476, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2476, "end_frame": 2641, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2641, "end_frame": 2877, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2877, "end_frame": 3262, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3262, "end_frame": 3448, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3448, "end_frame": 3658, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678163, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 549, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 549, "end_frame": 665, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 665, "end_frame": 892, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1805, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1805, "end_frame": 2001, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2001, "end_frame": 2656, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2656, "end_frame": 2853, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2853, "end_frame": 3080, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3080, "end_frame": 3397, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3397, "end_frame": 3594, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3594, "end_frame": 3821, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678217, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 345, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 553, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 553, "end_frame": 695, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 695, "end_frame": 945, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 945, "end_frame": 1925, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1925, "end_frame": 2175, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2175, "end_frame": 2698, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2698, "end_frame": 2906, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2906, "end_frame": 3126, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3126, "end_frame": 3530, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3530, "end_frame": 3744, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3744, "end_frame": 4005, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678256, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 502, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 502, "end_frame": 609, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 609, "end_frame": 804, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1782, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1782, "end_frame": 2059, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2059, "end_frame": 2601, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2601, "end_frame": 2805, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2805, "end_frame": 3016, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3016, "end_frame": 3533, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3533, "end_frame": 3733, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3733, "end_frame": 3928, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678295, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 583, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 583, "end_frame": 875, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 875, "end_frame": 1920, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1920, "end_frame": 2177, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2177, "end_frame": 2707, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2707, "end_frame": 2885, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2885, "end_frame": 3076, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3076, "end_frame": 3415, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3415, "end_frame": 3570, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3570, "end_frame": 3784, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678330, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 566, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 566, "end_frame": 690, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 690, "end_frame": 906, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1665, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1665, "end_frame": 1911, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1911, "end_frame": 2487, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2487, "end_frame": 2640, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2640, "end_frame": 2901, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2901, "end_frame": 3324, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3324, "end_frame": 3482, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3482, "end_frame": 3738, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678366, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 540, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 540, "end_frame": 650, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 650, "end_frame": 864, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 1933, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1933, "end_frame": 2164, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2164, "end_frame": 2808, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2808, "end_frame": 2976, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2976, "end_frame": 3206, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3206, "end_frame": 3615, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3615, "end_frame": 3798, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3798, "end_frame": 4060, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2164, "end": 2808, "description": "" } ] } }, { "episode_id": 678397, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 813, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1766, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1766, "end_frame": 1999, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1999, "end_frame": 2471, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2471, "end_frame": 2644, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2644, "end_frame": 2873, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2873, "end_frame": 3190, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3190, "end_frame": 3363, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3363, "end_frame": 3578, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678429, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 484, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 484, "end_frame": 577, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 577, "end_frame": 860, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1530, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1530, "end_frame": 1756, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1756, "end_frame": 2303, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2303, "end_frame": 2472, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2472, "end_frame": 2673, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2673, "end_frame": 2972, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2972, "end_frame": 3163, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3163, "end_frame": 3415, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678464, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 470, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 470, "end_frame": 562, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 562, "end_frame": 775, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 1769, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1769, "end_frame": 2005, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2005, "end_frame": 2508, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2508, "end_frame": 2722, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2722, "end_frame": 2944, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2944, "end_frame": 3245, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3245, "end_frame": 3409, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3409, "end_frame": 3690, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678498, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 487, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 487, "end_frame": 580, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 580, "end_frame": 816, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 1851, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1851, "end_frame": 2055, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2055, "end_frame": 2505, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2505, "end_frame": 2662, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2662, "end_frame": 2871, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2871, "end_frame": 3182, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3182, "end_frame": 3316, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3316, "end_frame": 3525, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678526, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 484, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 484, "end_frame": 579, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 579, "end_frame": 760, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 1776, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1776, "end_frame": 1985, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1985, "end_frame": 2507, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2507, "end_frame": 2659, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2659, "end_frame": 2901, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2901, "end_frame": 3220, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3220, "end_frame": 3400, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3400, "end_frame": 3623, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678589, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 547, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 547, "end_frame": 659, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 659, "end_frame": 879, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1763, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1763, "end_frame": 2023, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2023, "end_frame": 2570, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2570, "end_frame": 2779, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2779, "end_frame": 3040, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3040, "end_frame": 3449, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3449, "end_frame": 3592, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3592, "end_frame": 3863, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678630, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 505, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 505, "end_frame": 599, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 599, "end_frame": 820, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 1714, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1714, "end_frame": 1961, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1961, "end_frame": 2580, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2580, "end_frame": 2792, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2792, "end_frame": 3065, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3065, "end_frame": 3496, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3496, "end_frame": 3833, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3833, "end_frame": 4075, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678660, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 465, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 465, "end_frame": 563, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 563, "end_frame": 771, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 1769, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1769, "end_frame": 2036, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2036, "end_frame": 2565, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2565, "end_frame": 2772, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2772, "end_frame": 3019, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3019, "end_frame": 3380, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3380, "end_frame": 3528, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3528, "end_frame": 3775, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678682, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 521, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 521, "end_frame": 627, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 627, "end_frame": 842, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1699, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1699, "end_frame": 1980, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1980, "end_frame": 2562, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2562, "end_frame": 2742, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2742, "end_frame": 2973, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2973, "end_frame": 3288, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3288, "end_frame": 3509, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3509, "end_frame": 3795, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678705, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 582, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 582, "end_frame": 847, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1578, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1578, "end_frame": 1801, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1801, "end_frame": 2323, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2323, "end_frame": 2532, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2532, "end_frame": 2769, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2769, "end_frame": 3137, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3137, "end_frame": 3309, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3309, "end_frame": 3551, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678741, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 455, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 455, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 781, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 1668, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1668, "end_frame": 1946, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1946, "end_frame": 2479, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2479, "end_frame": 2666, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2666, "end_frame": 2867, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2867, "end_frame": 3284, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3284, "end_frame": 3452, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3452, "end_frame": 3687, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678806, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 467, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 467, "end_frame": 548, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 548, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1772, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1772, "end_frame": 2011, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2011, "end_frame": 2477, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2477, "end_frame": 2663, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2663, "end_frame": 2906, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2906, "end_frame": 3235, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3235, "end_frame": 3382, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3382, "end_frame": 3621, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678846, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 477, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 477, "end_frame": 567, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 567, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1649, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1649, "end_frame": 1877, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1877, "end_frame": 2373, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2373, "end_frame": 2578, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2578, "end_frame": 2802, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2802, "end_frame": 3164, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3164, "end_frame": 3326, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3326, "end_frame": 3631, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678869, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 462, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 462, "end_frame": 549, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 549, "end_frame": 732, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 1565, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1565, "end_frame": 1807, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1807, "end_frame": 2384, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2384, "end_frame": 2517, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2517, "end_frame": 2732, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2732, "end_frame": 3066, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3066, "end_frame": 3199, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3199, "end_frame": 3469, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678883, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 196, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 472, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 472, "end_frame": 588, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 588, "end_frame": 802, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1532, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1532, "end_frame": 1790, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1790, "end_frame": 2236, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2236, "end_frame": 2412, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2412, "end_frame": 2622, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2622, "end_frame": 2867, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2867, "end_frame": 3034, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3034, "end_frame": 3313, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678908, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 445, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 445, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 827, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 827, "end_frame": 1470, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1470, "end_frame": 1699, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1699, "end_frame": 2206, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2206, "end_frame": 2387, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2387, "end_frame": 2626, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2626, "end_frame": 2972, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2972, "end_frame": 3165, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3165, "end_frame": 3381, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678929, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 398, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 398, "end_frame": 481, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 481, "end_frame": 655, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 1177, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1177, "end_frame": 1426, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1426, "end_frame": 1906, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1906, "end_frame": 2089, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2089, "end_frame": 2312, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2312, "end_frame": 2660, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2660, "end_frame": 2830, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2830, "end_frame": 3058, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 678945, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 376, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 376, "end_frame": 470, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 470, "end_frame": 716, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 1099, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1099, "end_frame": 1307, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1307, "end_frame": 1784, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1784, "end_frame": 1960, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1960, "end_frame": 2274, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2274, "end_frame": 2589, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2589, "end_frame": 2743, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2743, "end_frame": 2970, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1960, "end": 2274, "description": "" } ] } }, { "episode_id": 678988, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 375, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 375, "end_frame": 462, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 462, "end_frame": 659, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 1010, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1010, "end_frame": 1211, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1677, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1677, "end_frame": 1847, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1847, "end_frame": 2040, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2040, "end_frame": 2565, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2565, "end_frame": 2707, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2707, "end_frame": 2932, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679020, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 391, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 391, "end_frame": 488, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 488, "end_frame": 670, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 1185, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1185, "end_frame": 1371, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1371, "end_frame": 1816, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1816, "end_frame": 1975, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1975, "end_frame": 2207, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2207, "end_frame": 2556, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2556, "end_frame": 2703, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2703, "end_frame": 2935, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679036, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 445, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 445, "end_frame": 560, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 560, "end_frame": 829, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 829, "end_frame": 1359, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1359, "end_frame": 1570, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1570, "end_frame": 2091, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2091, "end_frame": 2311, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2311, "end_frame": 2554, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2554, "end_frame": 2898, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2898, "end_frame": 3035, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3035, "end_frame": 3312, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679059, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 383, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 383, "end_frame": 472, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 472, "end_frame": 735, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 1152, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1152, "end_frame": 1369, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1369, "end_frame": 1856, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1856, "end_frame": 2033, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2033, "end_frame": 2227, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2227, "end_frame": 2552, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2552, "end_frame": 2683, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2683, "end_frame": 2930, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679080, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 408, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 408, "end_frame": 501, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 501, "end_frame": 707, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 1131, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1131, "end_frame": 1378, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1378, "end_frame": 1818, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1818, "end_frame": 2000, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2000, "end_frame": 2226, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2226, "end_frame": 2654, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2654, "end_frame": 2828, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2828, "end_frame": 3050, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679099, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 372, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 372, "end_frame": 473, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 473, "end_frame": 682, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 1050, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1050, "end_frame": 1255, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1255, "end_frame": 1689, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1689, "end_frame": 1886, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1886, "end_frame": 2092, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2092, "end_frame": 2436, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2436, "end_frame": 2626, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2626, "end_frame": 2878, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679124, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 722, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 1123, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1123, "end_frame": 1354, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1354, "end_frame": 1886, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1886, "end_frame": 2076, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2076, "end_frame": 2283, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2283, "end_frame": 2612, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2612, "end_frame": 2741, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2741, "end_frame": 2990, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1354, "end": 1886, "description": "" } ] } }, { "episode_id": 679148, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 358, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 525, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 525, "end_frame": 646, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 646, "end_frame": 941, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 941, "end_frame": 1400, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1400, "end_frame": 1650, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1650, "end_frame": 2112, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2112, "end_frame": 2320, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2320, "end_frame": 2524, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2524, "end_frame": 2837, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2837, "end_frame": 2970, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2970, "end_frame": 3166, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679165, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 355, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 355, "end_frame": 440, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 440, "end_frame": 659, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 1107, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1107, "end_frame": 1365, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1365, "end_frame": 1820, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1820, "end_frame": 1997, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1997, "end_frame": 2213, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2213, "end_frame": 2552, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2552, "end_frame": 2695, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2695, "end_frame": 2930, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679188, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 398, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 398, "end_frame": 490, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 490, "end_frame": 677, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 1094, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1094, "end_frame": 1324, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1324, "end_frame": 1802, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1802, "end_frame": 1970, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1970, "end_frame": 2203, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2203, "end_frame": 2506, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2506, "end_frame": 2678, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2678, "end_frame": 2880, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679209, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 412, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 412, "end_frame": 496, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 496, "end_frame": 685, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 1185, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1185, "end_frame": 1404, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 1866, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1866, "end_frame": 2027, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2027, "end_frame": 2231, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2231, "end_frame": 2550, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2550, "end_frame": 2674, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2674, "end_frame": 2904, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679237, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 393, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 393, "end_frame": 498, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 498, "end_frame": 689, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 1220, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1220, "end_frame": 1479, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1479, "end_frame": 2002, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2002, "end_frame": 2180, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2180, "end_frame": 2371, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2371, "end_frame": 2680, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2680, "end_frame": 2821, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2821, "end_frame": 3056, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679261, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 409, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 409, "end_frame": 508, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 508, "end_frame": 722, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 1115, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1115, "end_frame": 1325, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1325, "end_frame": 1806, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1806, "end_frame": 2005, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2005, "end_frame": 2215, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2215, "end_frame": 2532, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2532, "end_frame": 2677, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2677, "end_frame": 2918, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679282, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 400, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 400, "end_frame": 493, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 493, "end_frame": 690, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 1248, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1248, "end_frame": 1470, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1470, "end_frame": 1958, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1958, "end_frame": 2148, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2148, "end_frame": 2330, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2330, "end_frame": 2689, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2689, "end_frame": 2838, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2838, "end_frame": 3056, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679309, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 389, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 389, "end_frame": 472, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 472, "end_frame": 640, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 1131, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1131, "end_frame": 1318, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1318, "end_frame": 1812, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1812, "end_frame": 1981, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1981, "end_frame": 2187, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2187, "end_frame": 2471, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2471, "end_frame": 2621, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2621, "end_frame": 2853, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679331, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 393, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 393, "end_frame": 492, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 492, "end_frame": 691, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 1061, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1061, "end_frame": 1244, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1782, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1782, "end_frame": 1957, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1957, "end_frame": 2148, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2148, "end_frame": 2499, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2499, "end_frame": 2640, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2640, "end_frame": 2877, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679362, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 513, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 513, "end_frame": 735, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 1181, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1181, "end_frame": 1378, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1378, "end_frame": 1864, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1864, "end_frame": 2022, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2022, "end_frame": 2307, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2307, "end_frame": 2607, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2607, "end_frame": 2757, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 3006, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679378, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 363, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 363, "end_frame": 455, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 455, "end_frame": 634, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 1276, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1276, "end_frame": 1472, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1472, "end_frame": 2023, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2023, "end_frame": 2219, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2219, "end_frame": 2402, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2402, "end_frame": 2723, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2723, "end_frame": 2857, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2857, "end_frame": 3141, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1472, "end": 2023, "description": "" } ] } }, { "episode_id": 679413, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 377, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 377, "end_frame": 463, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 463, "end_frame": 677, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 1016, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1016, "end_frame": 1222, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1222, "end_frame": 1697, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1697, "end_frame": 1873, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1873, "end_frame": 2066, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2066, "end_frame": 2443, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2443, "end_frame": 2623, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2623, "end_frame": 2829, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679435, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 410, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 410, "end_frame": 489, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 489, "end_frame": 666, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 1091, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1091, "end_frame": 1321, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1321, "end_frame": 1799, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1799, "end_frame": 1976, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1976, "end_frame": 2168, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2168, "end_frame": 2494, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2494, "end_frame": 2634, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2634, "end_frame": 2864, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679456, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 443, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 443, "end_frame": 545, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 545, "end_frame": 732, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 1456, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1456, "end_frame": 1635, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1635, "end_frame": 2133, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2133, "end_frame": 2334, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2334, "end_frame": 2534, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2534, "end_frame": 2866, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2866, "end_frame": 2998, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2998, "end_frame": 3224, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679475, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 402, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 402, "end_frame": 491, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 491, "end_frame": 700, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 1223, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1223, "end_frame": 1432, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1432, "end_frame": 1887, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1887, "end_frame": 2048, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2048, "end_frame": 2245, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2245, "end_frame": 2635, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2635, "end_frame": 2768, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2768, "end_frame": 3010, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679482, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 399, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 399, "end_frame": 501, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 501, "end_frame": 671, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 671, "end_frame": 1153, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1153, "end_frame": 1360, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1360, "end_frame": 1812, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1812, "end_frame": 2008, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2008, "end_frame": 2196, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2196, "end_frame": 2475, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2475, "end_frame": 2626, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2626, "end_frame": 2852, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679491, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 429, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 429, "end_frame": 514, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 514, "end_frame": 751, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 1305, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1305, "end_frame": 1564, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1564, "end_frame": 2127, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2127, "end_frame": 2297, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2297, "end_frame": 2525, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2525, "end_frame": 2927, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2927, "end_frame": 3119, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3119, "end_frame": 3383, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679498, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 421, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 421, "end_frame": 530, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 530, "end_frame": 806, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 1209, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1209, "end_frame": 1436, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1436, "end_frame": 1963, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1963, "end_frame": 2129, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2129, "end_frame": 2283, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2283, "end_frame": 2647, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2647, "end_frame": 2813, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2813, "end_frame": 3021, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679508, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 377, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 377, "end_frame": 478, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 478, "end_frame": 755, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 1166, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1166, "end_frame": 1414, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1414, "end_frame": 1940, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1940, "end_frame": 2117, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2117, "end_frame": 2332, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2332, "end_frame": 2819, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2819, "end_frame": 2963, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2963, "end_frame": 3192, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679521, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 444, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 444, "end_frame": 550, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 550, "end_frame": 811, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1406, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1406, "end_frame": 1617, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1617, "end_frame": 2116, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2116, "end_frame": 2299, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2299, "end_frame": 2447, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2447, "end_frame": 2757, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 2904, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2904, "end_frame": 3133, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679564, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 537, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 537, "end_frame": 640, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 640, "end_frame": 949, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 949, "end_frame": 1748, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1748, "end_frame": 1968, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1968, "end_frame": 2483, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2483, "end_frame": 2646, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2646, "end_frame": 2884, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2884, "end_frame": 3209, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3209, "end_frame": 3405, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3405, "end_frame": 3665, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679577, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 539, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 539, "end_frame": 811, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1509, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1509, "end_frame": 1754, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1754, "end_frame": 2336, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2336, "end_frame": 2500, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2500, "end_frame": 2690, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2690, "end_frame": 3088, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3088, "end_frame": 3366, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3366, "end_frame": 3632, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679650, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 451, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 451, "end_frame": 537, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 537, "end_frame": 745, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 1508, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1508, "end_frame": 1746, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1746, "end_frame": 2231, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2231, "end_frame": 2404, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2404, "end_frame": 2578, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2578, "end_frame": 2959, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2959, "end_frame": 3093, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3093, "end_frame": 3301, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679677, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 439, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 439, "end_frame": 527, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 527, "end_frame": 795, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 1633, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1633, "end_frame": 1858, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1858, "end_frame": 2423, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2423, "end_frame": 2579, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2579, "end_frame": 2799, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2799, "end_frame": 3155, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3155, "end_frame": 3291, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3291, "end_frame": 3652, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679737, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 508, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 508, "end_frame": 613, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 613, "end_frame": 856, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 1607, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1607, "end_frame": 1855, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1855, "end_frame": 2457, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2457, "end_frame": 2617, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2617, "end_frame": 2822, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2822, "end_frame": 3253, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3253, "end_frame": 3505, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3505, "end_frame": 3766, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679770, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 458, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 458, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 768, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 1631, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1631, "end_frame": 1886, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1886, "end_frame": 2410, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2410, "end_frame": 2577, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2577, "end_frame": 2791, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2791, "end_frame": 3231, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3231, "end_frame": 3463, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3463, "end_frame": 3707, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679795, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 545, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 545, "end_frame": 852, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1331, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1331, "end_frame": 1522, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1522, "end_frame": 1922, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1922, "end_frame": 2090, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2090, "end_frame": 2295, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2295, "end_frame": 2751, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2751, "end_frame": 2900, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2900, "end_frame": 3142, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679819, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 572, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 572, "end_frame": 910, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 910, "end_frame": 1285, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1285, "end_frame": 1532, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1532, "end_frame": 1998, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1998, "end_frame": 2172, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2172, "end_frame": 2396, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2396, "end_frame": 2698, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2698, "end_frame": 2867, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2867, "end_frame": 3073, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679847, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 499, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 499, "end_frame": 762, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 1197, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1197, "end_frame": 1429, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1429, "end_frame": 1929, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1929, "end_frame": 2112, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2112, "end_frame": 2295, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2295, "end_frame": 2834, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2834, "end_frame": 2977, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2977, "end_frame": 3244, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679886, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 421, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 421, "end_frame": 502, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 502, "end_frame": 701, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 701, "end_frame": 1211, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1211, "end_frame": 1410, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 1877, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1877, "end_frame": 2029, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2029, "end_frame": 2251, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2251, "end_frame": 2554, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2554, "end_frame": 2702, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2702, "end_frame": 2936, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679905, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 447, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 447, "end_frame": 520, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 520, "end_frame": 737, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 1184, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1184, "end_frame": 1358, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1358, "end_frame": 1881, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1881, "end_frame": 2030, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2030, "end_frame": 2232, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2232, "end_frame": 2631, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2631, "end_frame": 2816, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2816, "end_frame": 3062, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679926, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 419, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 419, "end_frame": 496, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 496, "end_frame": 699, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 1187, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1187, "end_frame": 1387, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1387, "end_frame": 1838, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1838, "end_frame": 1997, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1997, "end_frame": 2200, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2200, "end_frame": 2623, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2623, "end_frame": 2818, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2818, "end_frame": 3038, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679949, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 472, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 472, "end_frame": 566, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 566, "end_frame": 757, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 1336, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1336, "end_frame": 1561, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1561, "end_frame": 2012, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2012, "end_frame": 2153, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2153, "end_frame": 2391, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2391, "end_frame": 2770, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2770, "end_frame": 2940, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2940, "end_frame": 3161, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679972, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 540, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 540, "end_frame": 746, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 1218, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1218, "end_frame": 1440, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1440, "end_frame": 1880, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1880, "end_frame": 2041, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2041, "end_frame": 2239, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2239, "end_frame": 2646, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2646, "end_frame": 2815, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2815, "end_frame": 3057, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 679991, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 420, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 420, "end_frame": 504, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 504, "end_frame": 689, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 1244, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1244, "end_frame": 1433, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1433, "end_frame": 2005, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2005, "end_frame": 2194, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2194, "end_frame": 2379, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2379, "end_frame": 2784, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2784, "end_frame": 2946, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2946, "end_frame": 3185, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680016, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 447, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 447, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 784, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1291, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1291, "end_frame": 1487, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1487, "end_frame": 1955, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1955, "end_frame": 2109, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2109, "end_frame": 2313, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2313, "end_frame": 2862, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2862, "end_frame": 3029, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3029, "end_frame": 3254, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680033, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 436, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 436, "end_frame": 520, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 520, "end_frame": 743, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 1322, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1322, "end_frame": 1490, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1490, "end_frame": 2094, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2094, "end_frame": 2232, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2232, "end_frame": 2451, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2451, "end_frame": 2807, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2807, "end_frame": 2954, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2954, "end_frame": 3189, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680056, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 527, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 527, "end_frame": 706, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 1139, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1139, "end_frame": 1334, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1334, "end_frame": 1775, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1775, "end_frame": 1950, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1950, "end_frame": 2145, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2145, "end_frame": 2527, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2527, "end_frame": 2761, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2761, "end_frame": 2988, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680078, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 565, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 565, "end_frame": 812, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 1223, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1223, "end_frame": 1422, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1422, "end_frame": 1885, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1885, "end_frame": 2035, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2035, "end_frame": 2262, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2262, "end_frame": 2742, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2742, "end_frame": 2896, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2896, "end_frame": 3107, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680119, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 428, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 428, "end_frame": 520, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 520, "end_frame": 707, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 1166, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1166, "end_frame": 1345, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1345, "end_frame": 1811, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1811, "end_frame": 1960, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1960, "end_frame": 2171, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2171, "end_frame": 2545, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2545, "end_frame": 2713, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2713, "end_frame": 2920, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680148, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 572, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 572, "end_frame": 848, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 1335, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1335, "end_frame": 1516, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1516, "end_frame": 2003, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2003, "end_frame": 2178, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2178, "end_frame": 2334, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2334, "end_frame": 2761, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2761, "end_frame": 2921, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2921, "end_frame": 3137, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680178, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 450, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 450, "end_frame": 545, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 545, "end_frame": 729, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 729, "end_frame": 1300, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1300, "end_frame": 1472, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1472, "end_frame": 2085, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2085, "end_frame": 2248, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2248, "end_frame": 2441, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2441, "end_frame": 2842, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2842, "end_frame": 2990, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2990, "end_frame": 3239, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680205, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 549, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 549, "end_frame": 781, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 1290, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1290, "end_frame": 1466, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1466, "end_frame": 1935, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1935, "end_frame": 2107, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2107, "end_frame": 2331, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2331, "end_frame": 2624, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2624, "end_frame": 2800, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2800, "end_frame": 3056, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680233, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 503, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 503, "end_frame": 593, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 593, "end_frame": 751, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 1233, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1233, "end_frame": 1404, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 1937, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1937, "end_frame": 2090, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2090, "end_frame": 2321, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2321, "end_frame": 2747, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2747, "end_frame": 3012, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3012, "end_frame": 3263, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680258, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 416, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 416, "end_frame": 512, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 512, "end_frame": 711, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 1199, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1199, "end_frame": 1375, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1375, "end_frame": 1842, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1842, "end_frame": 1994, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1994, "end_frame": 2198, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2630, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2630, "end_frame": 2786, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2786, "end_frame": 3038, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680289, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 519, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 519, "end_frame": 730, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 1221, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1221, "end_frame": 1404, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 1871, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1871, "end_frame": 2045, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2045, "end_frame": 2228, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2228, "end_frame": 2654, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2654, "end_frame": 2885, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2885, "end_frame": 3112, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680314, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 507, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 507, "end_frame": 616, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 616, "end_frame": 786, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 786, "end_frame": 1266, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1266, "end_frame": 1437, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1437, "end_frame": 1901, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1901, "end_frame": 2064, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2064, "end_frame": 2281, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2281, "end_frame": 2629, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2629, "end_frame": 2757, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 2966, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680339, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 450, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 450, "end_frame": 551, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 551, "end_frame": 796, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 796, "end_frame": 1299, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1299, "end_frame": 1476, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1476, "end_frame": 1959, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1959, "end_frame": 2132, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2132, "end_frame": 2341, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2341, "end_frame": 2699, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2699, "end_frame": 2848, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2848, "end_frame": 3065, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680369, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 495, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 495, "end_frame": 589, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 589, "end_frame": 816, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 1311, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1311, "end_frame": 1482, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1482, "end_frame": 1960, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1960, "end_frame": 2131, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2131, "end_frame": 2379, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2379, "end_frame": 2699, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2699, "end_frame": 2858, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2858, "end_frame": 3089, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 680399, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 454, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 454, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 757, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 1338, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1338, "end_frame": 1533, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1533, "end_frame": 2018, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2018, "end_frame": 2168, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2168, "end_frame": 2363, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2363, "end_frame": 2649, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2649, "end_frame": 2826, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2826, "end_frame": 3039, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683714, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 417, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 417, "end_frame": 498, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 498, "end_frame": 739, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 739, "end_frame": 1028, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1028, "end_frame": 1270, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1270, "end_frame": 1772, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1772, "end_frame": 1976, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1976, "end_frame": 2232, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2232, "end_frame": 2696, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2696, "end_frame": 2942, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2942, "end_frame": 3151, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683727, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 746, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 1073, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1073, "end_frame": 1305, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1305, "end_frame": 1851, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1851, "end_frame": 2060, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2060, "end_frame": 2251, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2251, "end_frame": 2529, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2529, "end_frame": 2693, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2693, "end_frame": 2934, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683736, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 410, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 410, "end_frame": 498, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 498, "end_frame": 750, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 1054, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1054, "end_frame": 1248, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1826, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1826, "end_frame": 2033, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2033, "end_frame": 2240, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2240, "end_frame": 2531, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2531, "end_frame": 2717, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2717, "end_frame": 2946, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683746, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 379, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 379, "end_frame": 467, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 467, "end_frame": 740, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 740, "end_frame": 1045, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1045, "end_frame": 1295, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1295, "end_frame": 1767, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1767, "end_frame": 1984, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1984, "end_frame": 2211, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2211, "end_frame": 2590, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2590, "end_frame": 2775, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2775, "end_frame": 3038, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683764, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 460, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 460, "end_frame": 560, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 560, "end_frame": 833, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 1168, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1168, "end_frame": 1412, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1412, "end_frame": 1944, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1944, "end_frame": 2164, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2164, "end_frame": 2398, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2398, "end_frame": 2757, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 2949, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2949, "end_frame": 3183, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683785, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 422, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 422, "end_frame": 515, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 515, "end_frame": 737, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 1044, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1044, "end_frame": 1239, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1239, "end_frame": 1732, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1732, "end_frame": 1914, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1914, "end_frame": 2127, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2127, "end_frame": 2491, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2491, "end_frame": 2669, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2669, "end_frame": 2931, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683801, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 440, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 440, "end_frame": 541, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 541, "end_frame": 860, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1193, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1193, "end_frame": 1440, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1440, "end_frame": 2024, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2024, "end_frame": 2256, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2256, "end_frame": 2493, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2493, "end_frame": 2812, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2812, "end_frame": 3015, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3015, "end_frame": 3228, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683823, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 494, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 494, "end_frame": 587, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 587, "end_frame": 925, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1310, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1310, "end_frame": 1586, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1586, "end_frame": 2220, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2220, "end_frame": 2428, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2428, "end_frame": 2662, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2662, "end_frame": 3038, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3038, "end_frame": 3249, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3249, "end_frame": 3473, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1586, "end": 2220, "description": "" } ] } }, { "episode_id": 683842, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 387, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 387, "end_frame": 472, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 472, "end_frame": 808, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 1110, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1110, "end_frame": 1313, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1313, "end_frame": 1871, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1871, "end_frame": 2041, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2041, "end_frame": 2267, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2267, "end_frame": 2622, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2622, "end_frame": 2867, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2867, "end_frame": 3118, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683869, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 428, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 428, "end_frame": 511, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 511, "end_frame": 808, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 1174, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1174, "end_frame": 1419, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1419, "end_frame": 1945, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1945, "end_frame": 2149, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2149, "end_frame": 2394, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2394, "end_frame": 2863, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2863, "end_frame": 3067, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3067, "end_frame": 3343, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683886, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 459, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 459, "end_frame": 539, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 539, "end_frame": 811, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1220, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1220, "end_frame": 1492, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1492, "end_frame": 2053, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2053, "end_frame": 2254, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2254, "end_frame": 2467, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2467, "end_frame": 2984, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2984, "end_frame": 3153, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3153, "end_frame": 3381, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683901, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 451, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 451, "end_frame": 562, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 562, "end_frame": 790, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 1231, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1231, "end_frame": 1499, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1499, "end_frame": 2119, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2119, "end_frame": 2333, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2333, "end_frame": 2588, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2588, "end_frame": 2922, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2922, "end_frame": 3114, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3114, "end_frame": 3373, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683943, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 425, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 425, "end_frame": 520, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 520, "end_frame": 712, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 1161, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1161, "end_frame": 1394, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1394, "end_frame": 1944, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1944, "end_frame": 2148, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2148, "end_frame": 2381, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2381, "end_frame": 2726, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2726, "end_frame": 2926, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2926, "end_frame": 3171, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683962, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 515, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 515, "end_frame": 741, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 1150, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1150, "end_frame": 1366, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1366, "end_frame": 1924, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1924, "end_frame": 2121, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2121, "end_frame": 2343, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2343, "end_frame": 2708, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2708, "end_frame": 2944, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2944, "end_frame": 3175, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683978, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 367, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 589, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 589, "end_frame": 839, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1124, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1124, "end_frame": 1361, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1361, "end_frame": 1862, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1862, "end_frame": 2050, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2050, "end_frame": 2306, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2306, "end_frame": 2779, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2779, "end_frame": 2962, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2962, "end_frame": 3242, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683998, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 442, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 442, "end_frame": 557, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 557, "end_frame": 788, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 1184, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1184, "end_frame": 1415, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1415, "end_frame": 1987, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1987, "end_frame": 2213, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2213, "end_frame": 2479, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2479, "end_frame": 2870, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2870, "end_frame": 3106, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3106, "end_frame": 3352, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684018, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 590, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 590, "end_frame": 858, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 858, "end_frame": 1198, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1198, "end_frame": 1419, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1419, "end_frame": 1989, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1989, "end_frame": 2176, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2176, "end_frame": 2406, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2406, "end_frame": 2799, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2799, "end_frame": 2976, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2976, "end_frame": 3230, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684034, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 427, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 427, "end_frame": 511, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 511, "end_frame": 725, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 1141, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1141, "end_frame": 1375, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1375, "end_frame": 2000, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2000, "end_frame": 2208, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2208, "end_frame": 2437, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2437, "end_frame": 2774, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2774, "end_frame": 3062, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3062, "end_frame": 3330, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684057, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 339, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 438, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 438, "end_frame": 526, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 526, "end_frame": 792, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 1130, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1130, "end_frame": 1344, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1344, "end_frame": 1990, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1990, "end_frame": 2203, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2203, "end_frame": 2458, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2458, "end_frame": 2953, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2953, "end_frame": 3188, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3188, "end_frame": 3490, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684075, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 430, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 430, "end_frame": 528, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 528, "end_frame": 752, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 1149, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1149, "end_frame": 1346, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1346, "end_frame": 1916, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1916, "end_frame": 2098, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2098, "end_frame": 2336, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2336, "end_frame": 2672, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2672, "end_frame": 2929, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2929, "end_frame": 3154, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2672, "end": 2929, "description": "" } ] } }, { "episode_id": 684162, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 407, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 407, "end_frame": 487, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 487, "end_frame": 702, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 1006, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1006, "end_frame": 1199, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1708, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1708, "end_frame": 1923, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1923, "end_frame": 2129, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2129, "end_frame": 2513, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2513, "end_frame": 2741, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2741, "end_frame": 2974, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684187, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 412, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 412, "end_frame": 514, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 514, "end_frame": 735, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 1132, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1132, "end_frame": 1333, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1333, "end_frame": 1881, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1881, "end_frame": 2097, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2097, "end_frame": 2317, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2317, "end_frame": 2709, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2709, "end_frame": 2905, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2905, "end_frame": 3170, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684212, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 432, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 432, "end_frame": 508, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 508, "end_frame": 802, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1112, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1112, "end_frame": 1336, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1336, "end_frame": 1905, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1905, "end_frame": 2098, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2098, "end_frame": 2352, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2352, "end_frame": 2829, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2829, "end_frame": 3088, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3088, "end_frame": 3373, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684230, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 399, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 399, "end_frame": 497, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 497, "end_frame": 663, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 1052, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1052, "end_frame": 1252, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1252, "end_frame": 1797, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1797, "end_frame": 1986, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1986, "end_frame": 2213, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2213, "end_frame": 2704, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2704, "end_frame": 2937, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2937, "end_frame": 3147, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684253, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 414, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 414, "end_frame": 503, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 503, "end_frame": 769, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 1122, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1122, "end_frame": 1320, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1843, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1843, "end_frame": 2048, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2048, "end_frame": 2270, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2270, "end_frame": 2756, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2756, "end_frame": 2944, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2944, "end_frame": 3187, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684271, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 548, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 548, "end_frame": 755, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 1202, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1202, "end_frame": 1404, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 1919, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1919, "end_frame": 2121, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2121, "end_frame": 2351, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2351, "end_frame": 2775, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2775, "end_frame": 2967, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2967, "end_frame": 3217, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684288, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 449, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 449, "end_frame": 542, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 542, "end_frame": 797, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 1139, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 1139, "end_frame": 1366, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1366, "end_frame": 1918, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1918, "end_frame": 2131, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 2131, "end_frame": 2367, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2367, "end_frame": 2663, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2663, "end_frame": 2849, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2849, "end_frame": 3080, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 684309, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 373, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 373, "end_frame": 457, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 457, "end_frame": 700, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 968, "action_text": "Pour the seasoning held in the right arm onto the potato on the baking tray.", "skill": "Pour" }, { "start_frame": 968, "end_frame": 1173, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1173, "end_frame": 1672, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1672, "end_frame": 1856, "action_text": "Lift the baking tray containing potato with the right arm.", "skill": "Pick" }, { "start_frame": 1856, "end_frame": 2070, "action_text": "Place the baking tray containing potato at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2070, "end_frame": 2439, "action_text": "Push the baking tray containing potato into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2439, "end_frame": 2598, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2598, "end_frame": 2828, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669710, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 279, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 528, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 528, "end_frame": 687, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 687, "end_frame": 856, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 1153, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1153, "end_frame": 1379, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1379, "end_frame": 2234, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2234, "end_frame": 2527, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2527, "end_frame": 2735, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2735, "end_frame": 3107, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3107, "end_frame": 3320, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3320, "end_frame": 3600, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669814, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 323, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 520, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 520, "end_frame": 707, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 707, "end_frame": 908, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 908, "end_frame": 1250, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1250, "end_frame": 1516, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1516, "end_frame": 2195, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2195, "end_frame": 2457, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2457, "end_frame": 2626, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2626, "end_frame": 3229, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3229, "end_frame": 3534, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3534, "end_frame": 3777, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669908, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 308, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 542, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 542, "end_frame": 712, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 712, "end_frame": 874, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1416, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1416, "end_frame": 1736, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1736, "end_frame": 2404, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2404, "end_frame": 2626, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2626, "end_frame": 2873, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2873, "end_frame": 3165, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3165, "end_frame": 3529, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3529, "end_frame": 3780, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 669949, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 348, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 561, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 561, "end_frame": 741, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 741, "end_frame": 984, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1273, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1273, "end_frame": 1591, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1591, "end_frame": 2429, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2429, "end_frame": 2764, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2764, "end_frame": 3029, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3029, "end_frame": 3325, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3325, "end_frame": 3736, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3736, "end_frame": 3941, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670065, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 402, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 402, "end_frame": 541, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 541, "end_frame": 713, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 1031, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1031, "end_frame": 1261, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1261, "end_frame": 1823, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1823, "end_frame": 2009, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2009, "end_frame": 2252, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2252, "end_frame": 2631, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2631, "end_frame": 2874, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2874, "end_frame": 3145, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670084, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 343, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 625, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 625, "end_frame": 899, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 899, "end_frame": 1185, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1185, "end_frame": 1410, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 2020, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2020, "end_frame": 2267, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2267, "end_frame": 2473, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2473, "end_frame": 2999, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2999, "end_frame": 3277, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3277, "end_frame": 3548, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670148, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 459, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 459, "end_frame": 622, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 622, "end_frame": 836, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 1070, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1070, "end_frame": 1271, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1271, "end_frame": 1903, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1903, "end_frame": 2147, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2147, "end_frame": 2358, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2358, "end_frame": 2630, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2630, "end_frame": 2908, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2908, "end_frame": 3197, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670179, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 339, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 460, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 460, "end_frame": 604, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 604, "end_frame": 795, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 1236, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1236, "end_frame": 1742, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1742, "end_frame": 2475, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2475, "end_frame": 2697, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2697, "end_frame": 2881, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2881, "end_frame": 3173, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3173, "end_frame": 3442, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3442, "end_frame": 3668, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1236, "end": 1742, "description": "" } ] } }, { "episode_id": 670295, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 364, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 536, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 536, "end_frame": 700, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 700, "end_frame": 1028, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1028, "end_frame": 1252, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1252, "end_frame": 1492, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1492, "end_frame": 2080, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2080, "end_frame": 2348, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2348, "end_frame": 2508, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2508, "end_frame": 3163, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3163, "end_frame": 3516, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3516, "end_frame": 3764, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 700, "end": 1028, "description": "" } ] } }, { "episode_id": 670320, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 476, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 476, "end_frame": 669, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 669, "end_frame": 872, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1124, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1124, "end_frame": 1355, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1355, "end_frame": 1944, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1944, "end_frame": 2127, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2127, "end_frame": 2293, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2293, "end_frame": 2679, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2679, "end_frame": 2927, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2927, "end_frame": 3185, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670350, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 332, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 452, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 452, "end_frame": 596, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 596, "end_frame": 805, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 989, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 989, "end_frame": 1158, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1158, "end_frame": 1656, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1656, "end_frame": 1868, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1868, "end_frame": 2025, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2025, "end_frame": 2326, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2326, "end_frame": 2602, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2602, "end_frame": 2873, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670374, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 319, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 519, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 519, "end_frame": 644, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 644, "end_frame": 834, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 834, "end_frame": 1102, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1102, "end_frame": 1310, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1310, "end_frame": 1940, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1940, "end_frame": 2216, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2216, "end_frame": 2398, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2398, "end_frame": 2745, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2745, "end_frame": 3053, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3053, "end_frame": 3368, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670418, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 441, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 441, "end_frame": 602, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 602, "end_frame": 813, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1239, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1239, "end_frame": 1401, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1401, "end_frame": 2052, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2052, "end_frame": 2248, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2248, "end_frame": 2454, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2454, "end_frame": 2953, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2953, "end_frame": 3184, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3184, "end_frame": 3389, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670440, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 505, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 505, "end_frame": 720, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 720, "end_frame": 925, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1175, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1175, "end_frame": 1350, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1350, "end_frame": 1886, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1886, "end_frame": 2121, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2121, "end_frame": 2331, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2331, "end_frame": 2896, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2896, "end_frame": 3181, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3181, "end_frame": 3461, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 670898, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 513, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 513, "end_frame": 669, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 669, "end_frame": 844, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 844, "end_frame": 1063, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1063, "end_frame": 1282, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1695, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1695, "end_frame": 1905, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1905, "end_frame": 2149, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2149, "end_frame": 2615, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2615, "end_frame": 2759, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2759, "end_frame": 3003, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681614, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 611, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 611, "end_frame": 835, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 835, "end_frame": 1071, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1071, "end_frame": 1303, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1303, "end_frame": 1918, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1918, "end_frame": 2182, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2182, "end_frame": 2366, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2366, "end_frame": 2773, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2773, "end_frame": 2989, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2989, "end_frame": 3246, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681660, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 91, "end_frame": 360, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 451, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 451, "end_frame": 591, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 591, "end_frame": 815, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1027, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1027, "end_frame": 1220, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1777, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1777, "end_frame": 2027, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2027, "end_frame": 2236, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2236, "end_frame": 2618, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2618, "end_frame": 2861, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2861, "end_frame": 3069, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681682, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 420, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 420, "end_frame": 571, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 571, "end_frame": 793, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 1108, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1108, "end_frame": 1326, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1326, "end_frame": 2131, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2131, "end_frame": 2349, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2349, "end_frame": 2555, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2555, "end_frame": 2970, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2970, "end_frame": 3176, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3176, "end_frame": 3369, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681710, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 399, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 399, "end_frame": 563, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 563, "end_frame": 799, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 1034, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1034, "end_frame": 1251, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1251, "end_frame": 2178, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2178, "end_frame": 2436, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2436, "end_frame": 2640, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2640, "end_frame": 3141, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3141, "end_frame": 3354, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3354, "end_frame": 3604, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681733, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 243, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 378, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 378, "end_frame": 532, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 532, "end_frame": 725, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 925, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 925, "end_frame": 1141, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1774, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1774, "end_frame": 2024, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2024, "end_frame": 2198, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2645, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2645, "end_frame": 2872, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2872, "end_frame": 3119, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681759, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 259, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 416, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 416, "end_frame": 558, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 558, "end_frame": 730, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 1047, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1047, "end_frame": 1292, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1773, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1773, "end_frame": 2003, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2003, "end_frame": 2138, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2138, "end_frame": 2572, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2572, "end_frame": 2766, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2766, "end_frame": 2963, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681787, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 546, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 546, "end_frame": 789, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 789, "end_frame": 1121, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1121, "end_frame": 1302, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1302, "end_frame": 1923, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1923, "end_frame": 2177, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2177, "end_frame": 2350, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2350, "end_frame": 2900, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2900, "end_frame": 3122, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3122, "end_frame": 3327, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681806, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 244, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 421, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 421, "end_frame": 565, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 565, "end_frame": 814, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 814, "end_frame": 991, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 991, "end_frame": 1173, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1173, "end_frame": 1810, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1810, "end_frame": 2093, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2093, "end_frame": 2251, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2251, "end_frame": 2825, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2825, "end_frame": 3065, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3065, "end_frame": 3266, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 681823, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 259, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 583, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 583, "end_frame": 773, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 1046, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1046, "end_frame": 1226, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1777, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1777, "end_frame": 2064, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2064, "end_frame": 2254, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2254, "end_frame": 2721, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2721, "end_frame": 2920, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2920, "end_frame": 3142, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682197, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 472, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 472, "end_frame": 655, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 655, "end_frame": 852, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1202, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1202, "end_frame": 1355, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1355, "end_frame": 2255, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2255, "end_frame": 2414, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2414, "end_frame": 2635, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2635, "end_frame": 3069, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3069, "end_frame": 3230, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3230, "end_frame": 3472, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682226, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 516, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 516, "end_frame": 649, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 649, "end_frame": 840, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 840, "end_frame": 1298, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1298, "end_frame": 1460, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1460, "end_frame": 2079, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2079, "end_frame": 2259, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2259, "end_frame": 2494, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2494, "end_frame": 2945, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2945, "end_frame": 3093, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3093, "end_frame": 3290, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682253, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 241, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 418, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 418, "end_frame": 594, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 594, "end_frame": 775, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 1016, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1016, "end_frame": 1185, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1185, "end_frame": 1884, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1884, "end_frame": 2135, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2135, "end_frame": 2358, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2358, "end_frame": 2816, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2816, "end_frame": 3008, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3008, "end_frame": 3201, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682282, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 537, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 537, "end_frame": 689, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 689, "end_frame": 880, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 880, "end_frame": 1131, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1131, "end_frame": 1318, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1318, "end_frame": 1925, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1925, "end_frame": 2101, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2101, "end_frame": 2291, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2291, "end_frame": 2897, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2897, "end_frame": 3173, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3173, "end_frame": 3374, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682301, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 238, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 449, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 449, "end_frame": 596, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 596, "end_frame": 792, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 999, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 999, "end_frame": 1192, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1814, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1814, "end_frame": 1987, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1987, "end_frame": 2179, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2179, "end_frame": 2570, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2570, "end_frame": 2794, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2794, "end_frame": 3013, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682323, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 612, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 612, "end_frame": 795, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 961, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 961, "end_frame": 1158, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1158, "end_frame": 1756, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1756, "end_frame": 2011, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2011, "end_frame": 2165, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2165, "end_frame": 2597, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2597, "end_frame": 2874, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2874, "end_frame": 3097, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682367, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 503, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 503, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 853, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 1105, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1105, "end_frame": 1314, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1314, "end_frame": 1911, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1911, "end_frame": 2174, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2174, "end_frame": 2469, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2469, "end_frame": 3034, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3034, "end_frame": 3226, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3226, "end_frame": 3419, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682400, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 317, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 473, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 473, "end_frame": 630, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 630, "end_frame": 806, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 1027, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1027, "end_frame": 1237, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1237, "end_frame": 1981, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1981, "end_frame": 2291, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2291, "end_frame": 2524, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2524, "end_frame": 3064, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3064, "end_frame": 3405, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3405, "end_frame": 3646, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682426, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 506, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 506, "end_frame": 687, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 687, "end_frame": 881, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 881, "end_frame": 1206, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1206, "end_frame": 1383, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1383, "end_frame": 1935, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1935, "end_frame": 2110, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2110, "end_frame": 2344, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2344, "end_frame": 2822, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2822, "end_frame": 3075, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3075, "end_frame": 3365, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682446, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 619, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 619, "end_frame": 783, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 1042, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1042, "end_frame": 1238, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1238, "end_frame": 1750, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1750, "end_frame": 1986, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1986, "end_frame": 2208, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2208, "end_frame": 2618, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2618, "end_frame": 2919, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2919, "end_frame": 3129, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682491, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 260, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 453, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 453, "end_frame": 622, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 622, "end_frame": 799, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 1079, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1079, "end_frame": 1269, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1813, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1813, "end_frame": 1995, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1995, "end_frame": 2319, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2319, "end_frame": 2903, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2903, "end_frame": 3118, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3118, "end_frame": 3303, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682524, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 438, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 620, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 620, "end_frame": 774, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 774, "end_frame": 973, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 973, "end_frame": 1483, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1483, "end_frame": 1722, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1722, "end_frame": 2330, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2330, "end_frame": 2581, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2581, "end_frame": 2756, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2756, "end_frame": 3234, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3234, "end_frame": 3631, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3631, "end_frame": 3870, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682546, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 276, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 497, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 497, "end_frame": 647, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 647, "end_frame": 808, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 1021, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1021, "end_frame": 1195, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1652, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1652, "end_frame": 1860, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1860, "end_frame": 2169, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2169, "end_frame": 2674, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2674, "end_frame": 2891, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2891, "end_frame": 3143, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682564, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 444, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 444, "end_frame": 596, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 596, "end_frame": 769, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 1072, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1072, "end_frame": 1252, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1252, "end_frame": 1943, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1943, "end_frame": 2194, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2194, "end_frame": 2405, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2405, "end_frame": 2830, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2830, "end_frame": 3125, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3125, "end_frame": 3322, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682583, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 428, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 428, "end_frame": 577, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 577, "end_frame": 759, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 996, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 996, "end_frame": 1169, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1169, "end_frame": 1683, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1683, "end_frame": 1904, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1904, "end_frame": 2087, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2087, "end_frame": 2422, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2422, "end_frame": 2688, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2688, "end_frame": 2855, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682605, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 330, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 526, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 526, "end_frame": 705, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 705, "end_frame": 905, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 905, "end_frame": 1221, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1221, "end_frame": 1424, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1424, "end_frame": 2003, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2003, "end_frame": 2197, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2197, "end_frame": 2419, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2419, "end_frame": 2901, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2901, "end_frame": 3142, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3142, "end_frame": 3350, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682634, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 424, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 609, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 609, "end_frame": 757, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 757, "end_frame": 940, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 940, "end_frame": 1225, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1225, "end_frame": 1430, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1430, "end_frame": 2099, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2099, "end_frame": 2345, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2345, "end_frame": 2572, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2572, "end_frame": 3127, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3127, "end_frame": 3324, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3324, "end_frame": 3490, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 31, "end": 424, "description": "" } ] } }, { "episode_id": 682656, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 329, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 515, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 515, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 844, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 844, "end_frame": 1148, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1148, "end_frame": 1351, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1351, "end_frame": 2166, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2166, "end_frame": 2406, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2406, "end_frame": 2577, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2577, "end_frame": 2971, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2971, "end_frame": 3228, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3228, "end_frame": 3414, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1351, "end": 2166, "description": "" } ] } }, { "episode_id": 682678, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 496, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 496, "end_frame": 667, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 667, "end_frame": 847, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1258, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1258, "end_frame": 1441, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1441, "end_frame": 2122, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2122, "end_frame": 2333, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2333, "end_frame": 2545, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2545, "end_frame": 3004, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3004, "end_frame": 3217, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3217, "end_frame": 3405, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682703, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 420, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 420, "end_frame": 571, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 571, "end_frame": 751, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 1174, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1174, "end_frame": 1332, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1332, "end_frame": 1830, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1830, "end_frame": 2069, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2069, "end_frame": 2263, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2263, "end_frame": 2584, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2584, "end_frame": 2889, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2889, "end_frame": 3132, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682726, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 354, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 505, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 505, "end_frame": 666, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 666, "end_frame": 895, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1123, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1123, "end_frame": 1323, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1323, "end_frame": 1927, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1927, "end_frame": 2133, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2133, "end_frame": 2291, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2291, "end_frame": 2603, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2603, "end_frame": 2851, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2851, "end_frame": 3073, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682758, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 283, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 471, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 471, "end_frame": 620, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 620, "end_frame": 780, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 1094, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1094, "end_frame": 1263, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1263, "end_frame": 1779, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1779, "end_frame": 1976, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1976, "end_frame": 2166, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2166, "end_frame": 2669, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2669, "end_frame": 2858, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2858, "end_frame": 3057, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682787, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 426, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 426, "end_frame": 577, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 577, "end_frame": 759, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1246, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1246, "end_frame": 1446, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1446, "end_frame": 1991, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1991, "end_frame": 2203, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2203, "end_frame": 2455, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2455, "end_frame": 2844, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2844, "end_frame": 3056, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3056, "end_frame": 3254, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682808, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 485, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 485, "end_frame": 653, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 653, "end_frame": 856, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 1207, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1207, "end_frame": 1406, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1406, "end_frame": 1922, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1922, "end_frame": 2115, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2115, "end_frame": 2326, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2326, "end_frame": 2683, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2683, "end_frame": 2877, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2877, "end_frame": 3053, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682841, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 395, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 395, "end_frame": 555, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 555, "end_frame": 728, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 1072, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1072, "end_frame": 1249, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1249, "end_frame": 1971, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1971, "end_frame": 2206, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2206, "end_frame": 2373, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2373, "end_frame": 2751, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2751, "end_frame": 3033, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3033, "end_frame": 3251, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682874, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 543, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 543, "end_frame": 661, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 661, "end_frame": 817, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1156, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1156, "end_frame": 1377, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1377, "end_frame": 1934, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1934, "end_frame": 2131, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2131, "end_frame": 2319, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2319, "end_frame": 2737, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2737, "end_frame": 2922, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2922, "end_frame": 3109, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682896, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 270, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 406, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 406, "end_frame": 547, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 547, "end_frame": 700, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 893, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 893, "end_frame": 1067, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1067, "end_frame": 1620, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1620, "end_frame": 1771, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1771, "end_frame": 1973, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1973, "end_frame": 2469, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2469, "end_frame": 2679, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2679, "end_frame": 2870, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682926, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 490, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 490, "end_frame": 636, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 636, "end_frame": 822, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 822, "end_frame": 1071, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1071, "end_frame": 1225, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1225, "end_frame": 1853, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1853, "end_frame": 2068, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2068, "end_frame": 2269, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2269, "end_frame": 2756, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2756, "end_frame": 2934, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2934, "end_frame": 3149, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 682950, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 463, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 463, "end_frame": 624, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 624, "end_frame": 806, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 1108, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1108, "end_frame": 1287, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1287, "end_frame": 1761, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1761, "end_frame": 1942, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1942, "end_frame": 2132, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2132, "end_frame": 2464, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2464, "end_frame": 2666, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2666, "end_frame": 2913, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683173, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 320, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 510, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 510, "end_frame": 663, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 663, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1350, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1350, "end_frame": 1544, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1544, "end_frame": 2173, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2173, "end_frame": 2394, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2394, "end_frame": 2598, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2598, "end_frame": 2859, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2859, "end_frame": 3050, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3050, "end_frame": 3223, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1544, "end": 2173, "description": "" } ] } }, { "episode_id": 683203, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 410, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 738, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 738, "end_frame": 871, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1066, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1635, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1635, "end_frame": 1830, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 2409, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2409, "end_frame": 2666, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2666, "end_frame": 2871, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2871, "end_frame": 3240, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3240, "end_frame": 3424, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3424, "end_frame": 3615, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 36, "end": 410, "description": "" } ] } }, { "episode_id": 683329, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 536, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 536, "end_frame": 668, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 668, "end_frame": 874, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1241, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1241, "end_frame": 1429, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1429, "end_frame": 1949, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1949, "end_frame": 2219, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2219, "end_frame": 2368, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2368, "end_frame": 2665, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2665, "end_frame": 2875, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2875, "end_frame": 3080, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683359, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 614, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 614, "end_frame": 756, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 756, "end_frame": 966, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1443, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1443, "end_frame": 1634, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1634, "end_frame": 2170, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2170, "end_frame": 2453, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2453, "end_frame": 2619, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2619, "end_frame": 3004, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3004, "end_frame": 3204, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3204, "end_frame": 3428, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683393, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 310, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 549, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 549, "end_frame": 719, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 719, "end_frame": 879, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1194, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1194, "end_frame": 1353, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1353, "end_frame": 2168, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2168, "end_frame": 2447, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2447, "end_frame": 2582, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2582, "end_frame": 3106, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3106, "end_frame": 3301, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3301, "end_frame": 3522, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683424, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 524, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 524, "end_frame": 690, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 690, "end_frame": 886, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 886, "end_frame": 1384, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1384, "end_frame": 1561, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1561, "end_frame": 2260, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2260, "end_frame": 2522, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2522, "end_frame": 2678, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2678, "end_frame": 3111, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3111, "end_frame": 3312, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3312, "end_frame": 3550, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1561, "end": 2260, "description": "" } ] } }, { "episode_id": 683491, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 87, "end_frame": 455, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 455, "end_frame": 746, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 746, "end_frame": 905, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1155, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1155, "end_frame": 1702, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1702, "end_frame": 1916, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1916, "end_frame": 2525, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2525, "end_frame": 2709, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2709, "end_frame": 2887, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2887, "end_frame": 3215, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3215, "end_frame": 3419, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3419, "end_frame": 3604, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683516, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 489, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 489, "end_frame": 627, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 627, "end_frame": 792, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 1193, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1193, "end_frame": 1362, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1362, "end_frame": 1985, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1985, "end_frame": 2207, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2207, "end_frame": 2372, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2372, "end_frame": 2741, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2741, "end_frame": 2941, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2941, "end_frame": 3138, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683537, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 78, "end_frame": 336, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 502, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 502, "end_frame": 655, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 655, "end_frame": 859, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 859, "end_frame": 1218, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1218, "end_frame": 1395, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1395, "end_frame": 1941, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1941, "end_frame": 2162, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2162, "end_frame": 2308, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2308, "end_frame": 2715, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2715, "end_frame": 3034, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3034, "end_frame": 3241, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683564, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 241, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 434, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 434, "end_frame": 554, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 554, "end_frame": 730, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 1052, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1052, "end_frame": 1271, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1271, "end_frame": 1894, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1894, "end_frame": 2173, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2173, "end_frame": 2276, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2276, "end_frame": 3089, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3089, "end_frame": 3273, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3273, "end_frame": 3443, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683634, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 617, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 617, "end_frame": 819, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 819, "end_frame": 1244, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1244, "end_frame": 1451, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1451, "end_frame": 2389, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2389, "end_frame": 2606, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2606, "end_frame": 2745, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2745, "end_frame": 3070, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3070, "end_frame": 3278, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3278, "end_frame": 3481, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 683651, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 490, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 490, "end_frame": 626, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 626, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1154, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1154, "end_frame": 1352, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1352, "end_frame": 1853, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1853, "end_frame": 2274, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2274, "end_frame": 2440, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2440, "end_frame": 2711, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2711, "end_frame": 2934, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2934, "end_frame": 3115, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1853, "end": 2274, "description": "" } ] } }, { "episode_id": 686874, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 114, "end_frame": 349, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 523, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 523, "end_frame": 697, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 697, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1352, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1352, "end_frame": 1580, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1580, "end_frame": 2210, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2210, "end_frame": 2444, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2444, "end_frame": 2661, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2661, "end_frame": 2945, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2945, "end_frame": 3174, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3174, "end_frame": 3398, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 843, "end": 1352, "description": "" } ] } }, { "episode_id": 686893, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 489, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 630, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 630, "end_frame": 785, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 785, "end_frame": 998, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 998, "end_frame": 1593, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1593, "end_frame": 1836, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1836, "end_frame": 2439, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2439, "end_frame": 2724, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2724, "end_frame": 2898, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2898, "end_frame": 3107, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3107, "end_frame": 3422, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3422, "end_frame": 3623, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 686918, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 330, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 576, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 576, "end_frame": 770, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 770, "end_frame": 942, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 942, "end_frame": 1510, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1510, "end_frame": 1752, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1752, "end_frame": 2302, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2302, "end_frame": 2599, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2599, "end_frame": 2793, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2793, "end_frame": 2999, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2999, "end_frame": 3296, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3296, "end_frame": 3501, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 686957, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 395, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 577, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 577, "end_frame": 763, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 763, "end_frame": 945, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 945, "end_frame": 1507, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1507, "end_frame": 1743, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1743, "end_frame": 2335, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2335, "end_frame": 2582, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2582, "end_frame": 2784, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2784, "end_frame": 3019, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3019, "end_frame": 3375, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3375, "end_frame": 3626, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 686996, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 521, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 521, "end_frame": 689, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 689, "end_frame": 870, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1445, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1445, "end_frame": 1704, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1704, "end_frame": 2386, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2386, "end_frame": 2699, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2699, "end_frame": 2891, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2891, "end_frame": 3144, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3144, "end_frame": 3475, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3475, "end_frame": 3702, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687016, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 310, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 491, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 491, "end_frame": 638, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 638, "end_frame": 830, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 830, "end_frame": 1382, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1382, "end_frame": 1616, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1616, "end_frame": 2121, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2121, "end_frame": 2356, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2356, "end_frame": 2540, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2540, "end_frame": 2850, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2850, "end_frame": 3102, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3102, "end_frame": 3380, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687087, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 321, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 510, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 510, "end_frame": 665, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 665, "end_frame": 891, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1497, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1497, "end_frame": 1707, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1707, "end_frame": 2254, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2254, "end_frame": 2487, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2487, "end_frame": 2657, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2657, "end_frame": 2960, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2960, "end_frame": 3300, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3300, "end_frame": 3529, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687111, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 346, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 566, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 566, "end_frame": 737, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 737, "end_frame": 939, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 939, "end_frame": 1479, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1479, "end_frame": 1790, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1790, "end_frame": 2455, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2455, "end_frame": 2710, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2710, "end_frame": 2866, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2866, "end_frame": 3075, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3075, "end_frame": 3398, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3398, "end_frame": 3581, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687182, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 87, "end_frame": 383, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 612, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 612, "end_frame": 746, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 746, "end_frame": 916, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 916, "end_frame": 1523, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1523, "end_frame": 1713, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1713, "end_frame": 2569, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2569, "end_frame": 2814, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2814, "end_frame": 3007, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3007, "end_frame": 3201, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3201, "end_frame": 3552, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3552, "end_frame": 3769, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687255, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 151, "end_frame": 401, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 570, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 570, "end_frame": 710, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 710, "end_frame": 902, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1366, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1366, "end_frame": 1551, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1551, "end_frame": 2134, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2134, "end_frame": 2405, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2405, "end_frame": 2519, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2519, "end_frame": 2753, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2753, "end_frame": 3047, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3047, "end_frame": 3277, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687507, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 643, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 643, "end_frame": 832, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1564, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1564, "end_frame": 1734, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1734, "end_frame": 2271, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2271, "end_frame": 2530, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2530, "end_frame": 2733, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2733, "end_frame": 2989, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2989, "end_frame": 3212, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3212, "end_frame": 3415, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687542, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 335, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 601, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 601, "end_frame": 785, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 785, "end_frame": 944, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1845, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1845, "end_frame": 2008, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2008, "end_frame": 2575, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2575, "end_frame": 2781, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2781, "end_frame": 2974, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2974, "end_frame": 3287, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3287, "end_frame": 3515, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3515, "end_frame": 3726, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687640, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 541, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 541, "end_frame": 700, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 700, "end_frame": 841, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 841, "end_frame": 1628, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1628, "end_frame": 1787, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1787, "end_frame": 2369, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2369, "end_frame": 2682, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2682, "end_frame": 2905, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2905, "end_frame": 3228, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3228, "end_frame": 3464, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3464, "end_frame": 3668, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687721, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 495, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 495, "end_frame": 631, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 631, "end_frame": 781, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 1797, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1797, "end_frame": 1947, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1947, "end_frame": 2442, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2442, "end_frame": 2714, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2714, "end_frame": 2864, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2864, "end_frame": 3145, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3145, "end_frame": 3413, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3413, "end_frame": 3662, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687839, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 594, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 594, "end_frame": 731, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 731, "end_frame": 898, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1702, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1702, "end_frame": 1860, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2403, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2403, "end_frame": 2660, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2660, "end_frame": 2792, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2792, "end_frame": 3070, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3070, "end_frame": 3254, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3254, "end_frame": 3450, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687865, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 547, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 547, "end_frame": 684, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 684, "end_frame": 1219, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1219, "end_frame": 1548, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1548, "end_frame": 1698, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1698, "end_frame": 2267, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2267, "end_frame": 2531, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2531, "end_frame": 2695, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2695, "end_frame": 2990, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2990, "end_frame": 3259, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3259, "end_frame": 3506, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 687992, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 515, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 515, "end_frame": 660, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 660, "end_frame": 830, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 830, "end_frame": 1673, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1673, "end_frame": 1830, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 2431, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2431, "end_frame": 2656, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2656, "end_frame": 2865, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2865, "end_frame": 3214, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3214, "end_frame": 3452, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3452, "end_frame": 3696, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688017, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 498, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 498, "end_frame": 653, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 653, "end_frame": 784, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1490, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1490, "end_frame": 1641, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1641, "end_frame": 2152, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2152, "end_frame": 2388, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2388, "end_frame": 2519, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2519, "end_frame": 2882, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2882, "end_frame": 3062, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3062, "end_frame": 3294, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688163, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 528, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 528, "end_frame": 675, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 675, "end_frame": 818, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1505, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1505, "end_frame": 1700, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1700, "end_frame": 2284, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2284, "end_frame": 2522, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2522, "end_frame": 2680, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2680, "end_frame": 3032, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3032, "end_frame": 3279, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3279, "end_frame": 3490, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688190, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 524, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 524, "end_frame": 677, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 677, "end_frame": 866, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1625, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1625, "end_frame": 1836, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1836, "end_frame": 2389, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2389, "end_frame": 2607, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2607, "end_frame": 2797, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2797, "end_frame": 3090, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3090, "end_frame": 3350, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3350, "end_frame": 3582, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688214, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 436, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 436, "end_frame": 560, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 560, "end_frame": 711, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 1388, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1388, "end_frame": 1549, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1549, "end_frame": 2068, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2068, "end_frame": 2353, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2353, "end_frame": 2548, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2548, "end_frame": 2827, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2827, "end_frame": 3067, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3067, "end_frame": 3280, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688248, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 649, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 649, "end_frame": 816, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 816, "end_frame": 1017, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1732, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1732, "end_frame": 1948, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1948, "end_frame": 2865, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2865, "end_frame": 3157, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 3157, "end_frame": 3343, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3343, "end_frame": 3615, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3615, "end_frame": 3872, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3872, "end_frame": 4062, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688275, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 534, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 534, "end_frame": 670, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 670, "end_frame": 879, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1644, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1644, "end_frame": 1830, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 2416, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2416, "end_frame": 2665, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2665, "end_frame": 2841, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2841, "end_frame": 3126, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3126, "end_frame": 3313, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3313, "end_frame": 3518, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688297, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 338, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 555, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 555, "end_frame": 702, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 702, "end_frame": 862, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1590, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1590, "end_frame": 1794, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1794, "end_frame": 2305, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2305, "end_frame": 2585, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2585, "end_frame": 2732, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2732, "end_frame": 3069, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3069, "end_frame": 3278, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3278, "end_frame": 3531, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1794, "end": 2305, "description": "" } ] } }, { "episode_id": 688414, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 503, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 503, "end_frame": 688, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 688, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1334, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1334, "end_frame": 1515, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1515, "end_frame": 2211, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2211, "end_frame": 2442, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2442, "end_frame": 2652, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2652, "end_frame": 2954, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2954, "end_frame": 3180, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3180, "end_frame": 3385, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1515, "end": 2211, "description": "" } ] } }, { "episode_id": 688435, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 424, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 424, "end_frame": 582, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 582, "end_frame": 756, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 1579, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1579, "end_frame": 1697, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1697, "end_frame": 2296, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2296, "end_frame": 2554, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2554, "end_frame": 2720, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2720, "end_frame": 3056, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3056, "end_frame": 3314, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3314, "end_frame": 3528, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688484, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 419, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 419, "end_frame": 578, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 578, "end_frame": 779, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 779, "end_frame": 1216, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1216, "end_frame": 1416, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1416, "end_frame": 1983, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1983, "end_frame": 2195, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2195, "end_frame": 2465, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2465, "end_frame": 2755, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2755, "end_frame": 2955, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2955, "end_frame": 3219, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688504, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 454, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 454, "end_frame": 602, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 602, "end_frame": 774, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 774, "end_frame": 1155, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1155, "end_frame": 1372, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1372, "end_frame": 1948, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1948, "end_frame": 2173, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2173, "end_frame": 2356, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2356, "end_frame": 2634, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2634, "end_frame": 2852, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2852, "end_frame": 3076, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688528, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 256, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 456, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 456, "end_frame": 603, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 603, "end_frame": 778, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 1150, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1150, "end_frame": 1300, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1300, "end_frame": 1869, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1869, "end_frame": 2089, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2089, "end_frame": 2248, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2248, "end_frame": 2551, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2551, "end_frame": 2776, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2776, "end_frame": 3004, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688549, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 424, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 424, "end_frame": 565, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 565, "end_frame": 741, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 1118, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1118, "end_frame": 1345, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1345, "end_frame": 1928, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1928, "end_frame": 2159, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2159, "end_frame": 2360, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2360, "end_frame": 2605, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2605, "end_frame": 2797, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2797, "end_frame": 3021, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688570, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 579, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 579, "end_frame": 742, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 742, "end_frame": 893, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1342, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1342, "end_frame": 1534, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1534, "end_frame": 2027, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2027, "end_frame": 2317, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2317, "end_frame": 2496, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2496, "end_frame": 2778, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2778, "end_frame": 3047, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3047, "end_frame": 3291, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688613, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 580, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 580, "end_frame": 775, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 1249, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1249, "end_frame": 1389, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1849, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1849, "end_frame": 2013, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2013, "end_frame": 2198, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2525, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2525, "end_frame": 2727, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2727, "end_frame": 2963, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688641, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 463, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 463, "end_frame": 627, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 627, "end_frame": 780, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 1331, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1331, "end_frame": 1528, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1528, "end_frame": 2011, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2011, "end_frame": 2301, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2301, "end_frame": 2469, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2469, "end_frame": 2807, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2807, "end_frame": 3020, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3020, "end_frame": 3245, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688713, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 470, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 470, "end_frame": 611, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 611, "end_frame": 819, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 819, "end_frame": 1342, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1342, "end_frame": 1530, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1530, "end_frame": 2071, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2071, "end_frame": 2272, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2272, "end_frame": 2410, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2410, "end_frame": 2735, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2735, "end_frame": 2977, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2977, "end_frame": 3205, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688740, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 463, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 463, "end_frame": 641, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 641, "end_frame": 803, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 803, "end_frame": 1343, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1343, "end_frame": 1502, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1502, "end_frame": 1997, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1997, "end_frame": 2220, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2220, "end_frame": 2405, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2405, "end_frame": 2641, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2641, "end_frame": 2887, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2887, "end_frame": 3085, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 688760, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 485, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 485, "end_frame": 635, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 635, "end_frame": 804, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1380, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1380, "end_frame": 1527, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1527, "end_frame": 1950, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1950, "end_frame": 2175, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2175, "end_frame": 2350, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2350, "end_frame": 2666, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2666, "end_frame": 2894, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2894, "end_frame": 3109, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 689157, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 457, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 457, "end_frame": 583, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 583, "end_frame": 755, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 1436, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1436, "end_frame": 1619, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1619, "end_frame": 2151, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2151, "end_frame": 2340, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2340, "end_frame": 2547, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2547, "end_frame": 2771, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2771, "end_frame": 3065, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3065, "end_frame": 3255, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 689276, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 91, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 555, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 555, "end_frame": 700, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 700, "end_frame": 906, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1427, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1427, "end_frame": 1636, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1636, "end_frame": 2128, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2128, "end_frame": 2377, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2377, "end_frame": 2518, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2518, "end_frame": 2704, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2704, "end_frame": 2989, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2989, "end_frame": 3208, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 689477, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 248, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 429, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 429, "end_frame": 588, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 588, "end_frame": 744, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 1265, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1265, "end_frame": 1414, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1414, "end_frame": 1967, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1967, "end_frame": 2186, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2186, "end_frame": 2332, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2332, "end_frame": 2552, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2552, "end_frame": 2847, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2847, "end_frame": 3035, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692221, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 474, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 474, "end_frame": 604, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 604, "end_frame": 800, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 1297, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1297, "end_frame": 1521, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1521, "end_frame": 2035, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2035, "end_frame": 2289, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2289, "end_frame": 2427, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2427, "end_frame": 2712, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2712, "end_frame": 3027, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3027, "end_frame": 3278, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692245, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 317, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 685, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 685, "end_frame": 865, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 865, "end_frame": 1315, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1315, "end_frame": 1539, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1539, "end_frame": 2155, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2155, "end_frame": 2403, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2403, "end_frame": 2576, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2576, "end_frame": 2810, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2810, "end_frame": 3185, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3185, "end_frame": 3441, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692279, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 315, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 482, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 482, "end_frame": 664, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 664, "end_frame": 881, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 881, "end_frame": 1355, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1355, "end_frame": 1587, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1587, "end_frame": 2214, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2214, "end_frame": 2533, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2533, "end_frame": 2669, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2669, "end_frame": 3026, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3026, "end_frame": 3417, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3417, "end_frame": 3626, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692297, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 566, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 566, "end_frame": 709, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 709, "end_frame": 919, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1345, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1345, "end_frame": 1573, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1573, "end_frame": 2172, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2172, "end_frame": 2462, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2462, "end_frame": 2598, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2598, "end_frame": 2888, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3300, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3300, "end_frame": 3509, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692318, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 305, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 566, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 566, "end_frame": 728, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 728, "end_frame": 931, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1398, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1398, "end_frame": 1615, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1615, "end_frame": 2119, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2119, "end_frame": 2369, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2369, "end_frame": 2516, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2516, "end_frame": 2888, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2888, "end_frame": 3278, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3278, "end_frame": 3513, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692334, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 495, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 495, "end_frame": 645, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 645, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1400, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1400, "end_frame": 1653, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1653, "end_frame": 2192, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2192, "end_frame": 2471, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2471, "end_frame": 2628, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2628, "end_frame": 2870, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2870, "end_frame": 3255, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3255, "end_frame": 3501, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692349, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 576, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 576, "end_frame": 739, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 739, "end_frame": 951, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 951, "end_frame": 1453, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1453, "end_frame": 1669, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1669, "end_frame": 2567, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2567, "end_frame": 2890, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2890, "end_frame": 3012, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3012, "end_frame": 3237, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3237, "end_frame": 3645, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3645, "end_frame": 3898, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692361, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 463, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 463, "end_frame": 623, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 623, "end_frame": 833, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 1428, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1428, "end_frame": 1654, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1654, "end_frame": 2292, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2292, "end_frame": 2705, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2705, "end_frame": 2853, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2853, "end_frame": 3200, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3200, "end_frame": 3515, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3515, "end_frame": 3717, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2292, "end": 2705, "description": "" } ] } }, { "episode_id": 692381, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 520, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 520, "end_frame": 705, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 705, "end_frame": 948, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1449, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1449, "end_frame": 1654, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1654, "end_frame": 2329, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2329, "end_frame": 2571, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2571, "end_frame": 2708, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2708, "end_frame": 3012, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3012, "end_frame": 3398, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3398, "end_frame": 3622, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 3012, "end": 3398, "description": "" } ] } }, { "episode_id": 692400, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 89, "end_frame": 362, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 557, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 557, "end_frame": 716, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 716, "end_frame": 904, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1447, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1447, "end_frame": 1661, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1661, "end_frame": 2141, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2141, "end_frame": 2444, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2444, "end_frame": 2599, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2599, "end_frame": 2861, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2861, "end_frame": 3281, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3281, "end_frame": 3525, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692419, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 573, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 573, "end_frame": 732, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 732, "end_frame": 925, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1520, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1520, "end_frame": 1749, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1749, "end_frame": 2300, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2300, "end_frame": 2548, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2548, "end_frame": 2685, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2685, "end_frame": 2970, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2970, "end_frame": 3340, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3340, "end_frame": 3532, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692437, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 245, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 416, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 416, "end_frame": 576, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 576, "end_frame": 760, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 1294, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1294, "end_frame": 1478, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1478, "end_frame": 1982, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1982, "end_frame": 2238, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2238, "end_frame": 2395, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2395, "end_frame": 2698, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2698, "end_frame": 3055, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3055, "end_frame": 3253, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692464, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 256, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 483, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 483, "end_frame": 631, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 631, "end_frame": 844, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 844, "end_frame": 1457, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1457, "end_frame": 1681, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1681, "end_frame": 2348, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2348, "end_frame": 2611, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2611, "end_frame": 2744, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2744, "end_frame": 3009, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3009, "end_frame": 3260, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3260, "end_frame": 3444, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1681, "end": 2348, "description": "" } ] } }, { "episode_id": 692493, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 480, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 480, "end_frame": 653, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 653, "end_frame": 869, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1419, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1419, "end_frame": 1603, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1603, "end_frame": 2119, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2119, "end_frame": 2401, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2401, "end_frame": 2553, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2553, "end_frame": 2729, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2729, "end_frame": 3125, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3125, "end_frame": 3372, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692512, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 318, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 479, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 479, "end_frame": 620, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 620, "end_frame": 817, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1465, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1465, "end_frame": 1683, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1683, "end_frame": 2536, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2536, "end_frame": 2789, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2789, "end_frame": 2922, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2922, "end_frame": 3233, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3233, "end_frame": 3590, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3590, "end_frame": 3844, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1683, "end": 2536, "description": "" } ] } }, { "episode_id": 692525, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 498, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 498, "end_frame": 643, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 643, "end_frame": 825, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 1274, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1274, "end_frame": 1471, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1471, "end_frame": 2073, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2073, "end_frame": 2456, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2456, "end_frame": 2586, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2586, "end_frame": 2872, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2872, "end_frame": 3318, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3318, "end_frame": 3548, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692621, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 370, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 556, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 556, "end_frame": 709, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 709, "end_frame": 922, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 922, "end_frame": 1377, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1377, "end_frame": 1605, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1605, "end_frame": 2161, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2161, "end_frame": 2464, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2464, "end_frame": 2635, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2635, "end_frame": 3042, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3042, "end_frame": 3352, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3352, "end_frame": 3565, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692638, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 512, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 512, "end_frame": 652, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 652, "end_frame": 894, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1493, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1493, "end_frame": 1707, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1707, "end_frame": 2243, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2243, "end_frame": 2464, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2464, "end_frame": 2643, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2643, "end_frame": 2790, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2790, "end_frame": 3116, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3116, "end_frame": 3347, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692679, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 486, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 486, "end_frame": 616, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 616, "end_frame": 796, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 796, "end_frame": 1272, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1272, "end_frame": 1464, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1464, "end_frame": 1956, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1956, "end_frame": 2191, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2191, "end_frame": 2318, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2318, "end_frame": 2661, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2661, "end_frame": 2935, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2935, "end_frame": 3114, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692694, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 278, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 443, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 443, "end_frame": 602, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 602, "end_frame": 846, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 846, "end_frame": 1242, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1242, "end_frame": 1452, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1452, "end_frame": 2034, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2034, "end_frame": 2261, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2261, "end_frame": 2416, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2416, "end_frame": 2599, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2599, "end_frame": 3015, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3015, "end_frame": 3232, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692731, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 293, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 564, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 564, "end_frame": 701, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 701, "end_frame": 895, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1687, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1687, "end_frame": 1886, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1886, "end_frame": 2408, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2408, "end_frame": 2694, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2694, "end_frame": 2831, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2831, "end_frame": 3121, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3121, "end_frame": 3429, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3429, "end_frame": 3639, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692767, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 629, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 629, "end_frame": 778, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 778, "end_frame": 947, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1587, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1587, "end_frame": 1764, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1764, "end_frame": 2318, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2318, "end_frame": 2750, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2750, "end_frame": 2907, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2907, "end_frame": 3135, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3135, "end_frame": 3532, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3532, "end_frame": 3752, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692782, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 128, "end_frame": 363, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 630, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 630, "end_frame": 790, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 790, "end_frame": 1053, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1668, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1668, "end_frame": 1860, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2291, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2291, "end_frame": 2533, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2533, "end_frame": 2682, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2682, "end_frame": 2913, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2913, "end_frame": 3191, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3191, "end_frame": 3397, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692800, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 288, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 563, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 563, "end_frame": 709, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 709, "end_frame": 910, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 910, "end_frame": 1514, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1514, "end_frame": 1681, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1681, "end_frame": 2206, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2206, "end_frame": 2466, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2466, "end_frame": 2636, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2636, "end_frame": 2820, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2820, "end_frame": 3133, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3133, "end_frame": 3317, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692815, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 592, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 592, "end_frame": 749, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 749, "end_frame": 962, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1736, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1736, "end_frame": 1882, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1882, "end_frame": 2363, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2363, "end_frame": 2769, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2769, "end_frame": 2935, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2935, "end_frame": 3215, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3215, "end_frame": 3578, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3578, "end_frame": 3767, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2363, "end": 2769, "description": "" } ] } }, { "episode_id": 692829, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 314, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 594, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 594, "end_frame": 743, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 743, "end_frame": 913, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1685, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1685, "end_frame": 1915, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1915, "end_frame": 2530, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2530, "end_frame": 2988, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2988, "end_frame": 3175, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3175, "end_frame": 3485, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3485, "end_frame": 3816, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3816, "end_frame": 4054, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2530, "end": 2988, "description": "" } ] } }, { "episode_id": 692856, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 306, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 564, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 564, "end_frame": 703, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 703, "end_frame": 870, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1808, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1808, "end_frame": 1997, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1997, "end_frame": 2578, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2578, "end_frame": 2872, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2872, "end_frame": 3023, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3023, "end_frame": 3264, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3264, "end_frame": 3640, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3640, "end_frame": 3901, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692857, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 94, "end_frame": 317, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 638, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 638, "end_frame": 786, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 786, "end_frame": 947, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1651, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1651, "end_frame": 1858, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1858, "end_frame": 2465, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2465, "end_frame": 2738, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2738, "end_frame": 2899, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2899, "end_frame": 3142, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3142, "end_frame": 3525, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3525, "end_frame": 3736, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692885, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 568, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 568, "end_frame": 724, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 724, "end_frame": 884, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1584, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1584, "end_frame": 1804, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1804, "end_frame": 2500, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2500, "end_frame": 2772, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2772, "end_frame": 2934, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2934, "end_frame": 3164, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3164, "end_frame": 3572, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3572, "end_frame": 3820, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692912, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 268, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 533, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 533, "end_frame": 689, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 689, "end_frame": 888, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1530, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1530, "end_frame": 1701, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1701, "end_frame": 2187, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2187, "end_frame": 2466, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2466, "end_frame": 2643, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2643, "end_frame": 2857, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2857, "end_frame": 3249, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3249, "end_frame": 3463, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692931, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 541, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 541, "end_frame": 698, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 698, "end_frame": 890, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 890, "end_frame": 1631, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1631, "end_frame": 1827, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1827, "end_frame": 2341, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2341, "end_frame": 2660, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2660, "end_frame": 2890, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2890, "end_frame": 3093, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3093, "end_frame": 3435, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3435, "end_frame": 3665, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692958, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 284, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 556, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 556, "end_frame": 727, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 727, "end_frame": 957, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 957, "end_frame": 1801, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1801, "end_frame": 2018, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2018, "end_frame": 2582, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2582, "end_frame": 2933, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2933, "end_frame": 3150, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3150, "end_frame": 3330, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3330, "end_frame": 3760, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3760, "end_frame": 3990, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 692985, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 321, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 615, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 615, "end_frame": 836, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1010, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1010, "end_frame": 1803, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1803, "end_frame": 2033, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2033, "end_frame": 2683, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2683, "end_frame": 3034, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 3034, "end_frame": 3238, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3238, "end_frame": 3476, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3476, "end_frame": 3914, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3914, "end_frame": 4139, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693010, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 270, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 537, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 537, "end_frame": 719, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 719, "end_frame": 906, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1697, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1697, "end_frame": 1904, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1904, "end_frame": 2456, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2456, "end_frame": 2747, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2747, "end_frame": 2915, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2915, "end_frame": 3263, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3263, "end_frame": 3569, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3569, "end_frame": 3796, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693035, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 504, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 504, "end_frame": 671, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 671, "end_frame": 893, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1689, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1689, "end_frame": 1896, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1896, "end_frame": 2476, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2476, "end_frame": 2716, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2716, "end_frame": 2880, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2880, "end_frame": 3040, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3040, "end_frame": 3418, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3418, "end_frame": 3643, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693062, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 253, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 514, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 514, "end_frame": 710, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 710, "end_frame": 903, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 903, "end_frame": 1722, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1722, "end_frame": 1927, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1927, "end_frame": 2629, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2629, "end_frame": 2886, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2886, "end_frame": 3046, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3046, "end_frame": 3307, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3307, "end_frame": 3608, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3608, "end_frame": 3833, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693088, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 118, "end_frame": 352, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 596, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 596, "end_frame": 741, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 741, "end_frame": 925, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1716, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1716, "end_frame": 1941, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1941, "end_frame": 2476, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2476, "end_frame": 2747, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2747, "end_frame": 2965, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2965, "end_frame": 3141, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3141, "end_frame": 3431, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3431, "end_frame": 3649, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693118, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 91, "end_frame": 328, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 538, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 538, "end_frame": 700, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 700, "end_frame": 973, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 973, "end_frame": 1947, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1947, "end_frame": 2165, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2165, "end_frame": 2627, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2627, "end_frame": 2873, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2873, "end_frame": 3047, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3047, "end_frame": 3288, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3288, "end_frame": 3589, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3589, "end_frame": 3779, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693145, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 247, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 498, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 498, "end_frame": 662, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 662, "end_frame": 879, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1591, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1591, "end_frame": 1777, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1777, "end_frame": 2336, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2336, "end_frame": 2576, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2576, "end_frame": 2759, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2759, "end_frame": 3053, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3053, "end_frame": 3398, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3398, "end_frame": 3634, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693168, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 290, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 549, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 549, "end_frame": 731, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 731, "end_frame": 952, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 952, "end_frame": 1714, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1714, "end_frame": 1901, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1901, "end_frame": 2438, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2438, "end_frame": 2682, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2682, "end_frame": 2842, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2842, "end_frame": 3059, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3059, "end_frame": 3375, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3375, "end_frame": 3638, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693187, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 263, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 525, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 525, "end_frame": 675, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 675, "end_frame": 842, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1586, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1586, "end_frame": 1798, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1798, "end_frame": 2356, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2356, "end_frame": 2568, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2568, "end_frame": 2779, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2779, "end_frame": 2991, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2991, "end_frame": 3271, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3271, "end_frame": 3483, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693216, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 237, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 535, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 535, "end_frame": 693, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 693, "end_frame": 851, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1544, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1544, "end_frame": 1777, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1777, "end_frame": 2414, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2414, "end_frame": 2673, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2673, "end_frame": 2828, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2828, "end_frame": 3065, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3065, "end_frame": 3385, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3385, "end_frame": 3596, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 1777, "end": 2414, "description": "" } ] } }, { "episode_id": 693240, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 560, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 560, "end_frame": 738, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 738, "end_frame": 1000, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1000, "end_frame": 1651, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1651, "end_frame": 1843, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1843, "end_frame": 2341, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2341, "end_frame": 2610, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2610, "end_frame": 2796, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2796, "end_frame": 2941, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2941, "end_frame": 3276, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3276, "end_frame": 3472, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693263, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 591, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 591, "end_frame": 799, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 799, "end_frame": 958, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 958, "end_frame": 1784, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1784, "end_frame": 2024, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2024, "end_frame": 2475, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2475, "end_frame": 2753, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2753, "end_frame": 2904, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2904, "end_frame": 3190, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3190, "end_frame": 3464, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3464, "end_frame": 3688, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693286, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 285, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 545, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 545, "end_frame": 710, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 710, "end_frame": 878, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 878, "end_frame": 1507, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1507, "end_frame": 1711, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1711, "end_frame": 2182, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2182, "end_frame": 2403, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2403, "end_frame": 2515, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2515, "end_frame": 2820, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2820, "end_frame": 3120, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3120, "end_frame": 3355, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693312, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 289, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 536, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 536, "end_frame": 689, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 689, "end_frame": 852, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1521, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1521, "end_frame": 1725, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1725, "end_frame": 2159, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2159, "end_frame": 2403, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2403, "end_frame": 2563, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2563, "end_frame": 2757, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2757, "end_frame": 3021, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3021, "end_frame": 3242, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693333, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 256, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 485, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 485, "end_frame": 616, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 616, "end_frame": 788, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 1486, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1486, "end_frame": 1661, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1661, "end_frame": 2196, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2196, "end_frame": 2425, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2425, "end_frame": 2590, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2590, "end_frame": 2762, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2762, "end_frame": 3032, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3032, "end_frame": 3217, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693377, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 331, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 513, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 513, "end_frame": 698, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 698, "end_frame": 914, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1490, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1490, "end_frame": 1668, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1668, "end_frame": 2222, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2222, "end_frame": 2435, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2435, "end_frame": 2547, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2547, "end_frame": 2871, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2871, "end_frame": 3130, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3130, "end_frame": 3332, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693397, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 82, "end_frame": 304, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 508, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 508, "end_frame": 665, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 665, "end_frame": 812, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 1429, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1429, "end_frame": 1671, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1671, "end_frame": 2128, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2128, "end_frame": 2384, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2384, "end_frame": 2520, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2520, "end_frame": 2820, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2820, "end_frame": 3052, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3052, "end_frame": 3257, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693414, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 259, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 464, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 464, "end_frame": 645, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 645, "end_frame": 832, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1389, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1389, "end_frame": 1591, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1591, "end_frame": 2193, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2193, "end_frame": 2476, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2476, "end_frame": 2653, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2653, "end_frame": 2887, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2887, "end_frame": 3163, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3163, "end_frame": 3383, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693469, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 483, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 483, "end_frame": 638, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 638, "end_frame": 817, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1424, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1424, "end_frame": 1635, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1635, "end_frame": 2160, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2160, "end_frame": 2445, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2445, "end_frame": 2597, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2597, "end_frame": 2791, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2791, "end_frame": 3125, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3125, "end_frame": 3365, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693495, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 277, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 626, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 626, "end_frame": 825, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 1466, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1466, "end_frame": 1691, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1691, "end_frame": 2283, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2283, "end_frame": 2542, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2542, "end_frame": 2688, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2688, "end_frame": 2958, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2958, "end_frame": 3325, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3325, "end_frame": 3580, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693518, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 672, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 672, "end_frame": 861, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 861, "end_frame": 1374, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1374, "end_frame": 1563, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1563, "end_frame": 2063, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2063, "end_frame": 2296, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2296, "end_frame": 2461, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2461, "end_frame": 2687, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2687, "end_frame": 3015, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3015, "end_frame": 3224, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693544, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 149, "end_frame": 511, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 725, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 725, "end_frame": 870, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 870, "end_frame": 1062, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 1537, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1537, "end_frame": 1722, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1722, "end_frame": 2295, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2295, "end_frame": 2542, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2542, "end_frame": 2712, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2712, "end_frame": 2934, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2934, "end_frame": 3238, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3238, "end_frame": 3463, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693562, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 280, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 456, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 456, "end_frame": 670, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 670, "end_frame": 860, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1444, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1444, "end_frame": 1682, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1682, "end_frame": 2165, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2165, "end_frame": 2417, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2417, "end_frame": 2566, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2566, "end_frame": 2735, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2735, "end_frame": 3074, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3074, "end_frame": 3298, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693593, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 307, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 538, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 538, "end_frame": 705, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 705, "end_frame": 900, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 900, "end_frame": 1700, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1700, "end_frame": 1927, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1927, "end_frame": 2521, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2521, "end_frame": 2796, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2796, "end_frame": 2995, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2995, "end_frame": 3226, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3226, "end_frame": 3532, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3532, "end_frame": 3803, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693623, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 348, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 578, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 578, "end_frame": 750, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 750, "end_frame": 980, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 980, "end_frame": 1500, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1500, "end_frame": 1777, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1777, "end_frame": 2326, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2326, "end_frame": 2581, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2581, "end_frame": 2714, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2714, "end_frame": 2936, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2936, "end_frame": 3198, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3198, "end_frame": 3428, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693652, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 537, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 537, "end_frame": 719, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 719, "end_frame": 898, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1425, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1425, "end_frame": 1604, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1604, "end_frame": 2172, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2172, "end_frame": 2435, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2435, "end_frame": 2611, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2611, "end_frame": 2800, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2800, "end_frame": 3123, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3123, "end_frame": 3351, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693677, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 282, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 513, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 513, "end_frame": 668, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 668, "end_frame": 854, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1344, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1344, "end_frame": 1557, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1557, "end_frame": 2181, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2181, "end_frame": 2418, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2418, "end_frame": 2584, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2584, "end_frame": 2828, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2828, "end_frame": 3087, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3087, "end_frame": 3290, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693700, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 259, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 419, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 419, "end_frame": 592, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 592, "end_frame": 777, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1177, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1177, "end_frame": 1316, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1316, "end_frame": 1790, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1790, "end_frame": 2031, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2031, "end_frame": 2179, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2179, "end_frame": 2582, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2582, "end_frame": 2758, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2758, "end_frame": 2943, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693726, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 231, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 446, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 446, "end_frame": 599, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 599, "end_frame": 784, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1341, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1341, "end_frame": 1500, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1500, "end_frame": 1982, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1982, "end_frame": 2213, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2213, "end_frame": 2379, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2379, "end_frame": 2587, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2587, "end_frame": 2877, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2877, "end_frame": 3108, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693779, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 205, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 397, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 397, "end_frame": 531, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 531, "end_frame": 713, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 1231, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1231, "end_frame": 1407, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1407, "end_frame": 1941, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1941, "end_frame": 2183, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2183, "end_frame": 2323, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2323, "end_frame": 2590, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2590, "end_frame": 2915, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2915, "end_frame": 3130, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693867, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 432, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 432, "end_frame": 573, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 573, "end_frame": 767, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 767, "end_frame": 1437, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1437, "end_frame": 1574, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1574, "end_frame": 2060, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2060, "end_frame": 2308, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2308, "end_frame": 2536, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2536, "end_frame": 2817, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2817, "end_frame": 2992, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2992, "end_frame": 3219, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693905, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 423, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 423, "end_frame": 556, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 556, "end_frame": 710, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 1248, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1248, "end_frame": 1369, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1369, "end_frame": 1910, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1910, "end_frame": 2088, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2088, "end_frame": 2254, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2254, "end_frame": 2505, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2505, "end_frame": 2644, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2644, "end_frame": 2845, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 693928, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 97, "end_frame": 356, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 566, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 566, "end_frame": 716, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 716, "end_frame": 884, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1275, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1275, "end_frame": 1453, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1453, "end_frame": 1934, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1934, "end_frame": 2112, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2112, "end_frame": 2290, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2290, "end_frame": 2478, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2478, "end_frame": 2762, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2762, "end_frame": 2984, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694001, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 439, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 439, "end_frame": 567, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 567, "end_frame": 724, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 1183, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1183, "end_frame": 1306, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1306, "end_frame": 1779, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1779, "end_frame": 1954, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 1954, "end_frame": 2128, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2128, "end_frame": 2361, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2361, "end_frame": 2576, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2576, "end_frame": 2785, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694023, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 229, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 422, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 422, "end_frame": 578, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 578, "end_frame": 720, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 1151, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1151, "end_frame": 1292, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1793, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1793, "end_frame": 2012, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2012, "end_frame": 2184, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2184, "end_frame": 2392, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2392, "end_frame": 2681, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2681, "end_frame": 2877, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694078, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 408, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 408, "end_frame": 526, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 526, "end_frame": 651, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 651, "end_frame": 1081, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1081, "end_frame": 1185, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1185, "end_frame": 1620, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1620, "end_frame": 1818, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 1818, "end_frame": 1959, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 1959, "end_frame": 2186, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2186, "end_frame": 2373, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2373, "end_frame": 2546, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694095, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 407, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 407, "end_frame": 548, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 548, "end_frame": 684, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 1080, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1080, "end_frame": 1194, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1194, "end_frame": 1653, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1653, "end_frame": 1867, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 1867, "end_frame": 2006, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2006, "end_frame": 2220, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2220, "end_frame": 2418, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2418, "end_frame": 2592, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694182, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 264, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 644, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 644, "end_frame": 811, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 811, "end_frame": 977, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 977, "end_frame": 1908, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1908, "end_frame": 2110, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 2110, "end_frame": 2591, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2591, "end_frame": 2820, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2820, "end_frame": 3006, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3006, "end_frame": 3204, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3204, "end_frame": 3529, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3529, "end_frame": 3704, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694206, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 520, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 520, "end_frame": 688, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 688, "end_frame": 845, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 1560, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1560, "end_frame": 1714, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1714, "end_frame": 2173, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2173, "end_frame": 2389, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2389, "end_frame": 2570, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2570, "end_frame": 2813, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2813, "end_frame": 3066, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3066, "end_frame": 3268, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694232, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 89, "end_frame": 302, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 575, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 575, "end_frame": 736, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 736, "end_frame": 867, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 1425, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1425, "end_frame": 1593, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1593, "end_frame": 2069, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2069, "end_frame": 2328, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2328, "end_frame": 2496, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2496, "end_frame": 2660, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2660, "end_frame": 2916, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2916, "end_frame": 3136, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694260, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 253, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 444, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 444, "end_frame": 607, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 607, "end_frame": 770, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 1342, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1342, "end_frame": 1502, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1502, "end_frame": 1999, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1999, "end_frame": 2209, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2209, "end_frame": 2365, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2365, "end_frame": 2537, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2537, "end_frame": 2800, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2800, "end_frame": 2988, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694286, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 271, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 522, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 522, "end_frame": 697, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 697, "end_frame": 1097, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1097, "end_frame": 1430, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1430, "end_frame": 1568, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1568, "end_frame": 2057, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2057, "end_frame": 2268, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2268, "end_frame": 2410, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2410, "end_frame": 2605, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2605, "end_frame": 2853, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2853, "end_frame": 3153, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2853, "end": 3153, "description": "" } ] } }, { "episode_id": 694308, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 255, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 666, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 666, "end_frame": 800, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 1529, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1529, "end_frame": 1768, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1768, "end_frame": 2232, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2232, "end_frame": 2457, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2457, "end_frame": 2595, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2595, "end_frame": 2829, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2829, "end_frame": 3053, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3053, "end_frame": 3295, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694355, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 266, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 498, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 498, "end_frame": 678, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 678, "end_frame": 817, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1342, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1342, "end_frame": 1502, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1502, "end_frame": 1978, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1978, "end_frame": 2263, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2263, "end_frame": 2419, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2419, "end_frame": 2668, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2668, "end_frame": 2990, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2990, "end_frame": 3173, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 694384, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 267, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 473, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 473, "end_frame": 626, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 626, "end_frame": 772, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 1357, "action_text": "Pour the seasoning held in the right arm onto the corn flakes on the baking tray.", "skill": "Pour" }, { "start_frame": 1357, "end_frame": 1554, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1554, "end_frame": 1967, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1967, "end_frame": 2176, "action_text": "Lift the baking tray containing corn flakes with the right arm.", "skill": "Pick" }, { "start_frame": 2176, "end_frame": 2348, "action_text": "Place the baking tray containing corn flakes at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2348, "end_frame": 2535, "action_text": "Push the baking tray containing corn flakes into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2535, "end_frame": 2789, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2789, "end_frame": 3034, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698202, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 327, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 525, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 525, "end_frame": 697, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 697, "end_frame": 904, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1145, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1145, "end_frame": 1403, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1403, "end_frame": 2005, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2005, "end_frame": 2358, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2358, "end_frame": 2487, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2487, "end_frame": 2883, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2883, "end_frame": 3223, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3223, "end_frame": 3426, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698228, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 294, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 532, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 532, "end_frame": 713, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 713, "end_frame": 939, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 939, "end_frame": 1203, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1203, "end_frame": 1373, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1373, "end_frame": 1841, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1841, "end_frame": 2124, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2124, "end_frame": 2323, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2323, "end_frame": 2591, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2591, "end_frame": 2837, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2837, "end_frame": 3018, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698245, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 487, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 487, "end_frame": 677, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 677, "end_frame": 895, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1135, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1135, "end_frame": 1332, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1332, "end_frame": 1853, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1853, "end_frame": 2290, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2290, "end_frame": 2480, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2480, "end_frame": 2694, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2694, "end_frame": 3118, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3118, "end_frame": 3358, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698311, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 299, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 554, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 554, "end_frame": 808, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 808, "end_frame": 1054, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1054, "end_frame": 1340, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1340, "end_frame": 1555, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1555, "end_frame": 2113, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2113, "end_frame": 2640, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2640, "end_frame": 2755, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2755, "end_frame": 3058, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3058, "end_frame": 3343, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3343, "end_frame": 3522, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698332, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 295, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 561, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 561, "end_frame": 706, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 706, "end_frame": 995, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1397, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1397, "end_frame": 1624, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1624, "end_frame": 2387, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2387, "end_frame": 2745, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2745, "end_frame": 2957, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2957, "end_frame": 3218, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3218, "end_frame": 3682, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3682, "end_frame": 3866, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 2473, "end": 2618, "description": "" } ] } }, { "episode_id": 698392, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 402, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 587, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 587, "end_frame": 771, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 771, "end_frame": 975, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 975, "end_frame": 1316, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1316, "end_frame": 1501, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1501, "end_frame": 2430, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2430, "end_frame": 2725, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2725, "end_frame": 2910, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2910, "end_frame": 3155, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3155, "end_frame": 3538, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3538, "end_frame": 3703, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 211, "end": 359, "description": "" } ] } }, { "episode_id": 698405, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 303, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 542, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 542, "end_frame": 758, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 758, "end_frame": 965, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 965, "end_frame": 1348, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1348, "end_frame": 1515, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1515, "end_frame": 2050, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2050, "end_frame": 2345, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2345, "end_frame": 2473, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2473, "end_frame": 2692, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2692, "end_frame": 2947, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2947, "end_frame": 3197, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698488, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 269, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 528, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 528, "end_frame": 708, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 708, "end_frame": 882, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1074, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1074, "end_frame": 1240, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1804, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1804, "end_frame": 2100, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2100, "end_frame": 2280, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2280, "end_frame": 2461, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2461, "end_frame": 2767, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2767, "end_frame": 2958, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698509, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 493, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 493, "end_frame": 638, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 638, "end_frame": 843, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1048, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1048, "end_frame": 1256, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1256, "end_frame": 1860, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1860, "end_frame": 2119, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2119, "end_frame": 2308, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2308, "end_frame": 2513, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2513, "end_frame": 2763, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2763, "end_frame": 3018, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698689, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 460, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 709, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 709, "end_frame": 900, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1418, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1418, "end_frame": 1637, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1637, "end_frame": 1853, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1853, "end_frame": 2574, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2574, "end_frame": 2835, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2835, "end_frame": 3051, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3051, "end_frame": 3352, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3352, "end_frame": 3654, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3654, "end_frame": 3890, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 57, "end": 460, "description": "" } ] } }, { "episode_id": 698724, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 319, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 534, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 534, "end_frame": 686, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 686, "end_frame": 870, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1105, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1105, "end_frame": 1254, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1254, "end_frame": 1733, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1733, "end_frame": 1906, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1906, "end_frame": 2031, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2031, "end_frame": 2263, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2263, "end_frame": 2575, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2575, "end_frame": 2778, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698742, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 244, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 559, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 559, "end_frame": 752, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 752, "end_frame": 956, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 956, "end_frame": 1255, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1255, "end_frame": 1448, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1448, "end_frame": 1952, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1952, "end_frame": 2212, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2212, "end_frame": 2416, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2416, "end_frame": 2570, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2570, "end_frame": 2928, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2928, "end_frame": 3155, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698761, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 500, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 500, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 900, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 900, "end_frame": 1137, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1137, "end_frame": 1358, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1358, "end_frame": 1875, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1875, "end_frame": 2117, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2117, "end_frame": 2279, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2279, "end_frame": 2575, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2575, "end_frame": 2908, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2908, "end_frame": 3340, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698927, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 292, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 469, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 469, "end_frame": 636, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 636, "end_frame": 836, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 1012, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1012, "end_frame": 1235, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1756, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1756, "end_frame": 1958, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1958, "end_frame": 2126, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2126, "end_frame": 2293, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2293, "end_frame": 2554, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2554, "end_frame": 2762, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698942, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 281, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 602, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 602, "end_frame": 758, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 758, "end_frame": 926, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1107, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1107, "end_frame": 1312, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1312, "end_frame": 1804, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1804, "end_frame": 1981, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1981, "end_frame": 2140, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2140, "end_frame": 2397, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2397, "end_frame": 2669, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2669, "end_frame": 2920, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 698963, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 470, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 470, "end_frame": 637, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 637, "end_frame": 801, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 801, "end_frame": 1010, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1010, "end_frame": 1200, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1200, "end_frame": 1698, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1698, "end_frame": 1910, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1910, "end_frame": 2071, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2071, "end_frame": 2246, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2246, "end_frame": 2487, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2487, "end_frame": 2702, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 699005, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 273, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 457, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 457, "end_frame": 598, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 598, "end_frame": 853, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 1023, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1023, "end_frame": 1249, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1249, "end_frame": 1715, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1715, "end_frame": 1929, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 1929, "end_frame": 2122, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2122, "end_frame": 2356, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2356, "end_frame": 2570, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2570, "end_frame": 2799, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 699014, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 300, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 444, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 444, "end_frame": 584, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 584, "end_frame": 771, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 985, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 985, "end_frame": 1251, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1251, "end_frame": 1786, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1786, "end_frame": 2043, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2043, "end_frame": 2211, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2211, "end_frame": 2404, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2404, "end_frame": 2581, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2581, "end_frame": 2921, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 699020, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 275, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 523, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 523, "end_frame": 704, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 704, "end_frame": 944, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1196, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1196, "end_frame": 1415, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1415, "end_frame": 1932, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 1932, "end_frame": 2197, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2197, "end_frame": 2330, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2330, "end_frame": 2614, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2614, "end_frame": 2782, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 2782, "end_frame": 3086, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 702359, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 328, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 599, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 599, "end_frame": 801, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 801, "end_frame": 1052, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1336, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1336, "end_frame": 1611, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1611, "end_frame": 2158, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2158, "end_frame": 2457, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2457, "end_frame": 2595, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2595, "end_frame": 2805, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 2805, "end_frame": 3008, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3008, "end_frame": 3226, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 702403, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 309, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 608, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 608, "end_frame": 793, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 793, "end_frame": 1026, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1026, "end_frame": 1411, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1411, "end_frame": 1634, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1634, "end_frame": 2408, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2408, "end_frame": 2698, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2698, "end_frame": 2893, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 2893, "end_frame": 3216, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3216, "end_frame": 3558, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3558, "end_frame": 3808, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [] } }, { "episode_id": 702425, "task_id": 368, "task_name": "Cook vegetables with oven", "init_scene_text": "1. Initial Position: A baking tray is placed in front of the robot, containing two slices of vegetables to be roasted. An oven is positioned to the front left, and an oil dish and seasoning bottles are placed to the front right.\n2. The placement of environmental items changes every 30 data entries.", "label_info": { "action_config": [ { "start_frame": 130, "end_frame": 556, "action_text": "Grasp the oil brush from the dish with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 806, "action_text": "Brush the baking pan with the oil brush held in the right arm.", "skill": "Brush" }, { "start_frame": 806, "end_frame": 1001, "action_text": "Place the oil brush back into the oil dish.", "skill": "Place" }, { "start_frame": 1001, "end_frame": 1211, "action_text": "Grasp the seasoning bottle with the right arm.", "skill": "Pick" }, { "start_frame": 1211, "end_frame": 1752, "action_text": "Pour the seasoning held in the right arm onto the steak on the baking tray.", "skill": "Pour" }, { "start_frame": 1752, "end_frame": 1977, "action_text": "Place the seasoning bottle back on the table with the right arm.", "skill": "Place" }, { "start_frame": 1977, "end_frame": 2688, "action_text": "Open the oven door with both hands.", "skill": "Open" }, { "start_frame": 2688, "end_frame": 2999, "action_text": "Lift the baking tray containing steak with the right arm.", "skill": "Pick" }, { "start_frame": 2999, "end_frame": 3209, "action_text": "Place the baking tray containing steak at the oven door with the right arm.", "skill": "Place" }, { "start_frame": 3209, "end_frame": 3449, "action_text": "Push the baking tray containing steak into the oven with the right arm.", "skill": "Push" }, { "start_frame": 3449, "end_frame": 3684, "action_text": "Close the oven door with the right arm.", "skill": "Push" }, { "start_frame": 3684, "end_frame": 3985, "action_text": "Press the oven start button with the right arm.", "skill": "PressButton" } ], "key_frame": [ { "start": 292, "end": 488, "description": "" } ] } } ]