[ { "episode_id": 673316, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 519, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 747, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 747, "end_frame": 907, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 907, "end_frame": 1094, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1094, "end_frame": 1229, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1229, "end_frame": 1433, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1433, "end_frame": 1581, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1581, "end_frame": 1851, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673358, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 201, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 201, "end_frame": 555, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 677, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 677, "end_frame": 863, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 863, "end_frame": 972, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1114, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1114, "end_frame": 1257, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1257, "end_frame": 1409, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1409, "end_frame": 1632, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678365, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 269, "end_frame": 490, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 687, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 687, "end_frame": 868, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 1035, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1035, "end_frame": 1168, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1168, "end_frame": 1323, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1323, "end_frame": 1463, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1463, "end_frame": 1693, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678384, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 404, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 404, "end_frame": 614, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 614, "end_frame": 772, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 908, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1013, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1013, "end_frame": 1162, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1295, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1295, "end_frame": 1524, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678403, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 421, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 607, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 607, "end_frame": 749, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 749, "end_frame": 876, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 876, "end_frame": 1014, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1169, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1169, "end_frame": 1314, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1314, "end_frame": 1568, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678424, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 382, "end_frame": 847, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1032, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 1032, "end_frame": 1191, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1191, "end_frame": 1347, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1347, "end_frame": 1477, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1477, "end_frame": 1624, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1624, "end_frame": 1779, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1779, "end_frame": 1968, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 382, "end": 847, "description": "" } ] } }, { "episode_id": 678459, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 249, "end_frame": 439, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 673, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 673, "end_frame": 817, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 949, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1074, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1074, "end_frame": 1224, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1347, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1347, "end_frame": 1529, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678541, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 291, "end_frame": 441, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 441, "end_frame": 621, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 621, "end_frame": 759, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 907, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1040, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1040, "end_frame": 1196, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1367, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1367, "end_frame": 1555, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678593, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 331, "end_frame": 666, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 796, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 796, "end_frame": 947, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1098, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1098, "end_frame": 1212, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1212, "end_frame": 1359, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1359, "end_frame": 1491, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1491, "end_frame": 1714, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678644, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 310, "end_frame": 483, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 705, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 705, "end_frame": 836, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 987, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 987, "end_frame": 1097, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1097, "end_frame": 1239, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1239, "end_frame": 1406, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1406, "end_frame": 1675, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678662, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 265, "end_frame": 393, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 652, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 652, "end_frame": 801, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 801, "end_frame": 979, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 979, "end_frame": 1100, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1100, "end_frame": 1243, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1378, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1655, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678677, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 418, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 418, "end_frame": 627, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 627, "end_frame": 758, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 908, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1067, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1067, "end_frame": 1227, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1227, "end_frame": 1376, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1376, "end_frame": 1587, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678685, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 278, "end_frame": 414, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 584, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 584, "end_frame": 737, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 898, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 898, "end_frame": 1020, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1169, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1169, "end_frame": 1315, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1315, "end_frame": 1620, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678710, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 407, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 624, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 624, "end_frame": 823, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 945, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1074, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1074, "end_frame": 1208, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1208, "end_frame": 1351, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1351, "end_frame": 1556, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678728, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 448, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 601, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 601, "end_frame": 753, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 893, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 893, "end_frame": 1025, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1025, "end_frame": 1220, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1333, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1333, "end_frame": 1645, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678759, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 258, "end_frame": 449, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 779, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 779, "end_frame": 963, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 963, "end_frame": 1116, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1116, "end_frame": 1280, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1280, "end_frame": 1430, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1430, "end_frame": 1578, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1578, "end_frame": 1917, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678774, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 423, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 681, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 681, "end_frame": 783, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 935, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1051, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1051, "end_frame": 1231, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1352, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1352, "end_frame": 1536, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678825, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 445, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 445, "end_frame": 601, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 601, "end_frame": 732, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 852, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 852, "end_frame": 989, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 989, "end_frame": 1137, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1137, "end_frame": 1262, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1262, "end_frame": 1466, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678837, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 227, "end_frame": 377, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 535, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 535, "end_frame": 698, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 839, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 839, "end_frame": 991, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 991, "end_frame": 1170, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1348, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1348, "end_frame": 1586, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678850, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 277, "end_frame": 422, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 422, "end_frame": 592, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 592, "end_frame": 730, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 864, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1004, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1004, "end_frame": 1141, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1299, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1299, "end_frame": 1564, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678860, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 379, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 659, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 659, "end_frame": 778, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 900, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1106, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1106, "end_frame": 1226, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1398, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1398, "end_frame": 1577, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678938, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 267, "end_frame": 413, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 668, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 668, "end_frame": 902, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1096, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1250, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1250, "end_frame": 1488, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1488, "end_frame": 1659, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1659, "end_frame": 1928, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678962, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 247, "end_frame": 373, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 574, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 574, "end_frame": 716, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 878, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 878, "end_frame": 1010, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1010, "end_frame": 1211, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1339, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1339, "end_frame": 1594, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678977, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 319, "end_frame": 469, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 672, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 672, "end_frame": 832, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 978, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 978, "end_frame": 1141, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1305, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1305, "end_frame": 1448, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1448, "end_frame": 1661, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679006, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 475, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 719, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 719, "end_frame": 884, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1031, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1031, "end_frame": 1206, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1206, "end_frame": 1444, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1444, "end_frame": 1572, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1572, "end_frame": 1813, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679022, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 551, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 842, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 842, "end_frame": 1008, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1212, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1212, "end_frame": 1326, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1494, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1494, "end_frame": 1653, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1653, "end_frame": 2014, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679035, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 277, "end_frame": 428, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 428, "end_frame": 783, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 783, "end_frame": 942, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 942, "end_frame": 1086, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1086, "end_frame": 1209, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1209, "end_frame": 1352, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1352, "end_frame": 1475, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1475, "end_frame": 1707, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679046, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 384, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 612, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 612, "end_frame": 782, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 952, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1088, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1088, "end_frame": 1287, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1287, "end_frame": 1438, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1438, "end_frame": 1691, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679067, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 452, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 452, "end_frame": 777, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 777, "end_frame": 921, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1074, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1074, "end_frame": 1201, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1341, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1341, "end_frame": 1475, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1475, "end_frame": 1751, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679098, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 271, "end_frame": 453, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 746, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 746, "end_frame": 915, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 915, "end_frame": 1050, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1050, "end_frame": 1175, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1175, "end_frame": 1355, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1355, "end_frame": 1475, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1475, "end_frame": 1677, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679114, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 476, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 476, "end_frame": 731, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 731, "end_frame": 968, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 968, "end_frame": 1124, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1258, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1258, "end_frame": 1410, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 1551, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1551, "end_frame": 1937, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679155, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 425, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 775, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 775, "end_frame": 998, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 998, "end_frame": 1165, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1165, "end_frame": 1336, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1336, "end_frame": 1459, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1459, "end_frame": 1594, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1594, "end_frame": 1765, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679179, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 262, "end_frame": 429, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 655, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 655, "end_frame": 979, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 979, "end_frame": 1175, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1304, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1304, "end_frame": 1429, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1429, "end_frame": 1525, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1525, "end_frame": 1797, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 655, "end": 979, "description": "" } ] } }, { "episode_id": 679196, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 245, "end_frame": 450, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 661, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 661, "end_frame": 804, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 958, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1098, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1321, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1321, "end_frame": 1453, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1453, "end_frame": 1696, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679211, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 393, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 663, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 663, "end_frame": 818, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 960, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 960, "end_frame": 1099, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1232, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1232, "end_frame": 1354, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1563, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679230, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 225, "end_frame": 416, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 626, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 626, "end_frame": 758, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 927, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1062, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 1213, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1213, "end_frame": 1328, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1328, "end_frame": 1561, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684151, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 249, "end_frame": 583, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 781, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 781, "end_frame": 970, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1119, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1119, "end_frame": 1275, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1275, "end_frame": 1406, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1406, "end_frame": 1549, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1549, "end_frame": 2058, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684166, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 278, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 278, "end_frame": 471, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 471, "end_frame": 679, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 679, "end_frame": 812, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 967, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1124, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1124, "end_frame": 1298, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1298, "end_frame": 1450, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1450, "end_frame": 1772, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684198, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 271, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 271, "end_frame": 503, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 503, "end_frame": 661, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 661, "end_frame": 853, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 1007, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1007, "end_frame": 1181, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1181, "end_frame": 1338, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1338, "end_frame": 1528, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1528, "end_frame": 1781, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684210, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 271, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 271, "end_frame": 462, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 610, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 610, "end_frame": 790, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 909, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1061, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1061, "end_frame": 1235, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1381, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1663, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684221, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 237, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 237, "end_frame": 478, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 610, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 610, "end_frame": 818, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 928, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1081, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1081, "end_frame": 1242, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1242, "end_frame": 1384, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1384, "end_frame": 1705, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684248, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 238, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 469, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 896, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1080, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1241, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1241, "end_frame": 1381, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1559, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1559, "end_frame": 1743, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1743, "end_frame": 1989, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684263, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 481, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 672, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 672, "end_frame": 824, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 949, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1106, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1106, "end_frame": 1285, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1285, "end_frame": 1461, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1461, "end_frame": 1828, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684277, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 249, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 249, "end_frame": 538, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 683, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 683, "end_frame": 930, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1055, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1201, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1349, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1524, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1524, "end_frame": 2003, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684296, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 293, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 293, "end_frame": 550, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 789, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 789, "end_frame": 979, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 979, "end_frame": 1110, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1289, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1289, "end_frame": 1467, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1467, "end_frame": 1662, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1662, "end_frame": 1957, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684349, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 265, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 265, "end_frame": 477, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 693, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 693, "end_frame": 920, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 920, "end_frame": 1100, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1100, "end_frame": 1249, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1249, "end_frame": 1531, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1531, "end_frame": 1639, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1639, "end_frame": 1864, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684378, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 324, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 324, "end_frame": 496, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 496, "end_frame": 733, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 733, "end_frame": 1037, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1037, "end_frame": 1184, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1184, "end_frame": 1327, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1327, "end_frame": 1732, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1732, "end_frame": 1866, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1866, "end_frame": 2134, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 733, "end": 1037, "description": "" }, { "start": 1327, "end": 1732, "description": "" } ] } }, { "episode_id": 684398, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 256, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 584, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 934, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1109, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1109, "end_frame": 1295, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1295, "end_frame": 1413, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1413, "end_frame": 1625, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1625, "end_frame": 1739, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1739, "end_frame": 1988, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684409, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 255, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 407, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 621, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 621, "end_frame": 724, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 907, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1053, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1222, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1222, "end_frame": 1335, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1335, "end_frame": 1771, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684426, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 235, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 235, "end_frame": 479, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 479, "end_frame": 712, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 712, "end_frame": 905, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 905, "end_frame": 1180, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1180, "end_frame": 1300, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1300, "end_frame": 1460, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1460, "end_frame": 1768, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1768, "end_frame": 2012, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684439, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 258, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 258, "end_frame": 489, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 694, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 694, "end_frame": 842, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 999, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 999, "end_frame": 1149, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1149, "end_frame": 1314, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1314, "end_frame": 1450, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1450, "end_frame": 1807, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684452, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 252, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 252, "end_frame": 442, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 750, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 750, "end_frame": 914, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1046, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1046, "end_frame": 1175, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1175, "end_frame": 1316, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1316, "end_frame": 1452, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1452, "end_frame": 1734, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684476, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 243, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 434, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 660, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 660, "end_frame": 839, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1090, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1090, "end_frame": 1216, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1216, "end_frame": 1414, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1414, "end_frame": 1560, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1560, "end_frame": 1848, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684539, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 298, "end_frame": 538, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 804, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 804, "end_frame": 964, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1099, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1262, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1262, "end_frame": 1521, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1521, "end_frame": 1646, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1646, "end_frame": 1909, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684570, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 400, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 573, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 573, "end_frame": 702, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 848, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 848, "end_frame": 962, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1136, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1279, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1279, "end_frame": 1662, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684614, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 269, "end_frame": 446, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 446, "end_frame": 695, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 695, "end_frame": 838, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 838, "end_frame": 1010, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1010, "end_frame": 1163, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1163, "end_frame": 1311, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1456, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1456, "end_frame": 1731, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684624, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 287, "end_frame": 511, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 652, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 652, "end_frame": 820, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 935, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1092, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1092, "end_frame": 1224, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1369, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1369, "end_frame": 1694, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684928, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 416, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 621, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 621, "end_frame": 774, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 774, "end_frame": 898, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 898, "end_frame": 1049, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1049, "end_frame": 1187, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1187, "end_frame": 1336, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1336, "end_frame": 1716, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684957, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 414, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 629, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 629, "end_frame": 775, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 938, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1121, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1121, "end_frame": 1318, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1318, "end_frame": 1466, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1466, "end_frame": 1844, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684979, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 475, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 711, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 711, "end_frame": 856, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 1025, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1025, "end_frame": 1132, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1132, "end_frame": 1269, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1410, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1410, "end_frame": 1859, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685001, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 200, "end_frame": 338, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 657, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 657, "end_frame": 788, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 955, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1128, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1128, "end_frame": 1433, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1433, "end_frame": 1560, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1560, "end_frame": 1873, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685013, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 235, "end_frame": 408, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 642, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 642, "end_frame": 767, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 767, "end_frame": 957, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1098, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1276, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1276, "end_frame": 1380, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1380, "end_frame": 1597, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685022, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 244, "end_frame": 447, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 714, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 714, "end_frame": 1203, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1203, "end_frame": 1342, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1342, "end_frame": 1472, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1472, "end_frame": 1662, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1662, "end_frame": 1775, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1775, "end_frame": 1981, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 714, "end": 854, "description": "" } ] } }, { "episode_id": 685048, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 204, "end_frame": 379, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 528, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 528, "end_frame": 682, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 835, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 835, "end_frame": 963, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 963, "end_frame": 1099, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1257, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1257, "end_frame": 1496, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685078, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 359, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 550, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 550, "end_frame": 699, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 861, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 861, "end_frame": 1017, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1146, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1146, "end_frame": 1298, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1298, "end_frame": 1718, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685098, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 214, "end_frame": 395, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 565, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 565, "end_frame": 713, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 899, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 899, "end_frame": 1035, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1035, "end_frame": 1190, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1329, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1329, "end_frame": 1522, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685121, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 241, "end_frame": 490, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 733, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 733, "end_frame": 1041, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1174, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1174, "end_frame": 1336, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1336, "end_frame": 1486, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1486, "end_frame": 1678, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1678, "end_frame": 1929, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 733, "end": 1041, "description": "" } ] } }, { "episode_id": 685133, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 411, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 604, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 604, "end_frame": 800, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 970, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1111, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1292, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1421, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1421, "end_frame": 1721, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685159, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 241, "end_frame": 466, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 466, "end_frame": 709, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 709, "end_frame": 948, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1081, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1235, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1235, "end_frame": 1403, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1403, "end_frame": 1578, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1578, "end_frame": 1845, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685172, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 401, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 670, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 670, "end_frame": 854, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1081, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1265, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1517, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1517, "end_frame": 1616, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1616, "end_frame": 1825, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685185, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 440, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 656, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 656, "end_frame": 833, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 1029, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1029, "end_frame": 1182, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1182, "end_frame": 1381, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1381, "end_frame": 1506, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1506, "end_frame": 1978, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685199, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 237, "end_frame": 429, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 635, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 635, "end_frame": 826, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 826, "end_frame": 1013, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1206, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1206, "end_frame": 1398, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1398, "end_frame": 1543, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1543, "end_frame": 1716, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685216, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 224, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 224, "end_frame": 399, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 646, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 646, "end_frame": 824, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1005, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1005, "end_frame": 1153, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1153, "end_frame": 1325, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1325, "end_frame": 1455, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1455, "end_frame": 1707, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685244, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 200, "end_frame": 364, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 579, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 579, "end_frame": 723, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 915, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 915, "end_frame": 1056, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1056, "end_frame": 1289, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1289, "end_frame": 1403, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1403, "end_frame": 1673, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685259, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 402, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 663, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 663, "end_frame": 847, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1033, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1033, "end_frame": 1193, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1193, "end_frame": 1386, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1386, "end_frame": 1531, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1531, "end_frame": 1822, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685274, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 233, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 233, "end_frame": 383, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 588, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 588, "end_frame": 745, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 935, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1074, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1074, "end_frame": 1262, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1262, "end_frame": 1394, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1394, "end_frame": 1674, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685286, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 379, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 626, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 626, "end_frame": 728, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 922, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1069, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1069, "end_frame": 1282, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1410, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1410, "end_frame": 1761, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685298, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 405, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 405, "end_frame": 683, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 683, "end_frame": 835, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 835, "end_frame": 1069, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1069, "end_frame": 1185, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1185, "end_frame": 1411, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1411, "end_frame": 1557, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1557, "end_frame": 1813, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685317, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 431, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 813, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 813, "end_frame": 995, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1199, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1338, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1338, "end_frame": 1545, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1545, "end_frame": 1702, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1702, "end_frame": 1994, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685325, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 350, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 644, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 644, "end_frame": 766, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 963, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1078, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1078, "end_frame": 1255, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1255, "end_frame": 1384, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1384, "end_frame": 1615, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685355, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 354, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 569, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 569, "end_frame": 720, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 869, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1041, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1223, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1223, "end_frame": 1342, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1342, "end_frame": 1655, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685370, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 223, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 223, "end_frame": 401, "action_text": "Grab the snow cake on the table with the right arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 717, "action_text": "Place the grasped snow cake into blue nylon bag.", "skill": "Place" }, { "start_frame": 717, "end_frame": 910, "action_text": "Grasp the tomato sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 910, "end_frame": 1039, "action_text": "Place the grasped tomato sauce into blue nylon bag.", "skill": "Place" }, { "start_frame": 1039, "end_frame": 1199, "action_text": "Retrieve the orange juice from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1199, "end_frame": 1311, "action_text": "Place the grasped orange juice into blue nylon bag.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1473, "action_text": "Grab the brown doll on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1473, "end_frame": 1714, "action_text": "Place the grasped brown doll into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674825, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 166, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 166, "end_frame": 310, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 425, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 425, "end_frame": 565, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 565, "end_frame": 671, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 671, "end_frame": 806, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 901, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 901, "end_frame": 1225, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1225, "end_frame": 1406, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 901, "end": 1225, "description": "" } ] } }, { "episode_id": 674829, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 134, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 134, "end_frame": 273, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 360, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 360, "end_frame": 495, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 495, "end_frame": 566, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 566, "end_frame": 689, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 784, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 784, "end_frame": 1165, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1165, "end_frame": 1368, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 784, "end": 1165, "description": "" } ] } }, { "episode_id": 674847, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 144, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 144, "end_frame": 256, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 390, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 390, "end_frame": 531, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 613, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 613, "end_frame": 752, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 834, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 834, "end_frame": 1053, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1251, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674855, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 163, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 163, "end_frame": 290, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 378, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 378, "end_frame": 500, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 500, "end_frame": 584, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 584, "end_frame": 725, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 796, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 796, "end_frame": 959, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 959, "end_frame": 1172, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674862, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 140, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 140, "end_frame": 298, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 382, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 382, "end_frame": 496, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 496, "end_frame": 595, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 732, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 843, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 843, "end_frame": 1022, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1244, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674892, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 161, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 161, "end_frame": 303, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 403, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 403, "end_frame": 519, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 610, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 610, "end_frame": 743, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 816, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 816, "end_frame": 959, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 959, "end_frame": 1116, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674946, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 168, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 168, "end_frame": 312, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 410, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 410, "end_frame": 592, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 690, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 690, "end_frame": 806, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 901, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 901, "end_frame": 1020, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1217, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674954, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 163, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 163, "end_frame": 283, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 401, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 401, "end_frame": 516, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 629, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 629, "end_frame": 757, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 835, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 835, "end_frame": 976, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 976, "end_frame": 1177, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674965, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 184, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 184, "end_frame": 311, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 410, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 410, "end_frame": 524, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 524, "end_frame": 608, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 608, "end_frame": 766, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 850, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 850, "end_frame": 999, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 999, "end_frame": 1212, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674971, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 164, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 164, "end_frame": 296, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 374, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 374, "end_frame": 480, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 536, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 536, "end_frame": 698, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 776, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 776, "end_frame": 955, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 955, "end_frame": 1136, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674983, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 168, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 168, "end_frame": 294, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 389, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 389, "end_frame": 520, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 520, "end_frame": 595, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 746, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 825, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 825, "end_frame": 995, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1171, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674990, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 148, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 148, "end_frame": 258, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 346, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 346, "end_frame": 475, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 560, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 560, "end_frame": 733, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 733, "end_frame": 791, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 791, "end_frame": 973, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 973, "end_frame": 1144, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675001, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 141, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 141, "end_frame": 264, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 354, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 354, "end_frame": 447, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 536, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 536, "end_frame": 660, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 660, "end_frame": 735, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 735, "end_frame": 892, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1059, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675010, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 224, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 224, "end_frame": 350, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 451, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 451, "end_frame": 581, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 581, "end_frame": 652, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 652, "end_frame": 806, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 887, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1075, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1075, "end_frame": 1281, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675017, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 170, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 170, "end_frame": 287, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 365, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 365, "end_frame": 481, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 571, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 571, "end_frame": 732, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 810, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 810, "end_frame": 952, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 952, "end_frame": 1128, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675024, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 160, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 160, "end_frame": 283, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 361, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 361, "end_frame": 469, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 540, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 668, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 729, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 729, "end_frame": 875, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 875, "end_frame": 1109, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675030, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 149, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 149, "end_frame": 267, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 341, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 341, "end_frame": 444, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 537, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 537, "end_frame": 667, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 742, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 742, "end_frame": 913, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1141, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675041, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 149, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 149, "end_frame": 277, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 354, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 354, "end_frame": 656, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 728, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 728, "end_frame": 851, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 916, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1081, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1081, "end_frame": 1247, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 354, "end": 656, "description": "" } ] } }, { "episode_id": 675059, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 157, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 157, "end_frame": 288, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 396, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 396, "end_frame": 516, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 608, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 608, "end_frame": 747, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 747, "end_frame": 821, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 821, "end_frame": 964, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1175, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675064, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 146, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 146, "end_frame": 275, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 366, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 366, "end_frame": 492, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 492, "end_frame": 580, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 580, "end_frame": 700, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 777, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 777, "end_frame": 960, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1187, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675077, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 162, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 162, "end_frame": 279, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 363, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 363, "end_frame": 461, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 461, "end_frame": 548, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 548, "end_frame": 661, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 732, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 732, "end_frame": 862, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1065, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675086, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 156, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 156, "end_frame": 311, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 386, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 386, "end_frame": 498, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 498, "end_frame": 569, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 569, "end_frame": 703, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 770, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 770, "end_frame": 915, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 915, "end_frame": 1085, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675095, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 156, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 156, "end_frame": 266, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 346, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 346, "end_frame": 451, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 451, "end_frame": 534, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 534, "end_frame": 652, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 735, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 735, "end_frame": 890, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 890, "end_frame": 1047, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675102, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 166, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 166, "end_frame": 298, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 381, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 381, "end_frame": 488, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 566, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 566, "end_frame": 700, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 770, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 770, "end_frame": 910, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 910, "end_frame": 1080, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675109, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 228, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 355, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 441, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 441, "end_frame": 563, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 638, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 638, "end_frame": 768, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 845, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 845, "end_frame": 965, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 965, "end_frame": 1162, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675121, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 144, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 144, "end_frame": 253, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 323, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 323, "end_frame": 430, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 497, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 497, "end_frame": 618, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 618, "end_frame": 681, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 681, "end_frame": 825, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 1075, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675130, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 160, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 160, "end_frame": 294, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 375, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 375, "end_frame": 485, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 485, "end_frame": 566, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 566, "end_frame": 705, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 705, "end_frame": 768, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 768, "end_frame": 1099, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1289, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 768, "end": 1099, "description": "" } ] } }, { "episode_id": 675143, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 157, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 157, "end_frame": 276, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 338, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 338, "end_frame": 454, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 454, "end_frame": 528, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 528, "end_frame": 637, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 711, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 711, "end_frame": 854, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1060, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675160, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 175, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 175, "end_frame": 295, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 372, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 372, "end_frame": 546, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 546, "end_frame": 630, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 630, "end_frame": 753, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 834, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 834, "end_frame": 958, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 958, "end_frame": 1145, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675169, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 153, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 153, "end_frame": 267, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 355, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 355, "end_frame": 453, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 532, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 532, "end_frame": 657, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 728, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 728, "end_frame": 879, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1110, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675181, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 138, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 138, "end_frame": 283, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 353, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 353, "end_frame": 467, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 537, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 537, "end_frame": 656, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 727, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 727, "end_frame": 848, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 1024, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675193, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 157, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 157, "end_frame": 297, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 365, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 365, "end_frame": 481, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 568, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 568, "end_frame": 695, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 771, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 771, "end_frame": 963, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 963, "end_frame": 1176, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675211, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 146, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 146, "end_frame": 263, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 354, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 354, "end_frame": 460, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 547, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 547, "end_frame": 706, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 797, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 797, "end_frame": 964, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1178, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675219, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 187, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 187, "end_frame": 285, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 363, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 363, "end_frame": 487, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 575, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 575, "end_frame": 704, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 704, "end_frame": 785, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 785, "end_frame": 970, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1206, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675227, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 184, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 184, "end_frame": 301, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 363, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 363, "end_frame": 502, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 502, "end_frame": 599, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 599, "end_frame": 722, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 807, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 807, "end_frame": 924, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1088, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675238, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 140, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 140, "end_frame": 255, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 330, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 330, "end_frame": 430, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 518, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 518, "end_frame": 663, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 727, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 727, "end_frame": 842, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1059, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675248, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 164, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 164, "end_frame": 283, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 370, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 370, "end_frame": 478, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 568, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 568, "end_frame": 691, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 778, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 778, "end_frame": 895, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1058, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675258, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 158, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 158, "end_frame": 277, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 400, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 400, "end_frame": 516, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 618, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 618, "end_frame": 762, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 872, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 872, "end_frame": 993, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 993, "end_frame": 1228, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675283, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 153, "end_frame": 274, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 376, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 376, "end_frame": 478, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 615, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 726, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 726, "end_frame": 808, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 808, "end_frame": 938, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1153, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675295, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 164, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 164, "end_frame": 296, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 400, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 400, "end_frame": 527, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 527, "end_frame": 604, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 604, "end_frame": 730, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 806, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 806, "end_frame": 920, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 920, "end_frame": 1131, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675305, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 153, "end_frame": 257, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 360, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 360, "end_frame": 459, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 532, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 532, "end_frame": 661, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 772, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 772, "end_frame": 882, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1064, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675314, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 152, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 152, "end_frame": 264, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 359, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 359, "end_frame": 425, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 530, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 530, "end_frame": 638, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 729, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 729, "end_frame": 849, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 849, "end_frame": 1016, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675326, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 152, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 152, "end_frame": 272, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 351, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 351, "end_frame": 557, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 557, "end_frame": 634, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 634, "end_frame": 762, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 828, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 828, "end_frame": 939, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 939, "end_frame": 1125, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 351, "end": 557, "description": "" } ] } }, { "episode_id": 675346, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 132, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 132, "end_frame": 241, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 302, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 302, "end_frame": 389, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 466, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 466, "end_frame": 625, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 692, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 692, "end_frame": 800, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 956, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675355, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 151, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 151, "end_frame": 266, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 341, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 341, "end_frame": 434, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 514, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 514, "end_frame": 623, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 700, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 700, "end_frame": 794, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 794, "end_frame": 997, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675361, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 164, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 164, "end_frame": 266, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 333, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 333, "end_frame": 429, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 518, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 518, "end_frame": 615, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 615, "end_frame": 697, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 697, "end_frame": 788, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 978, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675370, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 154, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 154, "end_frame": 250, "action_text": "Grab the iced tea on the table with the right arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 325, "action_text": "Place the grasped iced tea into blue nylon bag.", "skill": "Place" }, { "start_frame": 325, "end_frame": 411, "action_text": "Grasp the yogurt bowl on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 488, "action_text": "Place the grasped yogurt bowl into blue nylon bag.", "skill": "Place" }, { "start_frame": 488, "end_frame": 603, "action_text": "Retrieve the pork jerky from the table with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 667, "action_text": "Place the grasped pork jerky into blue nylon bag.", "skill": "Place" }, { "start_frame": 667, "end_frame": 783, "action_text": "Grab the mouthwash on the table with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 982, "action_text": "Place the grasped mouthwash into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679616, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 364, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 530, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 530, "end_frame": 656, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 814, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 814, "end_frame": 936, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 936, "end_frame": 1082, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1199, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1199, "end_frame": 1433, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679635, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 529, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 698, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 698, "end_frame": 872, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 998, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 998, "end_frame": 1118, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1249, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1249, "end_frame": 1379, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1379, "end_frame": 1586, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679645, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 209, "end_frame": 379, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 553, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 553, "end_frame": 684, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 815, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 815, "end_frame": 938, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1076, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1076, "end_frame": 1191, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1191, "end_frame": 1432, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679674, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 195, "end_frame": 439, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 668, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 668, "end_frame": 887, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 887, "end_frame": 1077, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1077, "end_frame": 1184, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1184, "end_frame": 1349, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1458, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1458, "end_frame": 1708, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679764, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 205, "end_frame": 419, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 599, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 599, "end_frame": 753, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 913, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 913, "end_frame": 1027, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1163, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1163, "end_frame": 1311, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1311, "end_frame": 1478, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679775, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 376, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 564, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 564, "end_frame": 706, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 845, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 845, "end_frame": 1024, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1024, "end_frame": 1227, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1227, "end_frame": 1339, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1339, "end_frame": 1513, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679791, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 411, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 618, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 618, "end_frame": 800, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 977, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1084, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1084, "end_frame": 1311, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1435, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1435, "end_frame": 1596, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679811, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 227, "end_frame": 328, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 513, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 513, "end_frame": 648, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 799, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 799, "end_frame": 908, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 908, "end_frame": 1104, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1231, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1231, "end_frame": 1412, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679844, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 208, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 208, "end_frame": 391, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 521, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 521, "end_frame": 650, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 795, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 795, "end_frame": 901, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1152, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1251, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1251, "end_frame": 1428, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679924, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 383, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 614, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 614, "end_frame": 824, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 984, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 984, "end_frame": 1089, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1089, "end_frame": 1323, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1323, "end_frame": 1477, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1477, "end_frame": 1705, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679968, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 380, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 603, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 603, "end_frame": 731, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 731, "end_frame": 903, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1026, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1026, "end_frame": 1176, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1300, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1300, "end_frame": 1569, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679980, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 250, "end_frame": 413, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 657, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 657, "end_frame": 782, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 973, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1123, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1284, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1284, "end_frame": 1408, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1408, "end_frame": 1666, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680068, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 247, "end_frame": 410, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 595, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 778, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 946, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1093, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1093, "end_frame": 1280, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1280, "end_frame": 1389, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1389, "end_frame": 1680, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680077, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 399, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 607, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 607, "end_frame": 772, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 917, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1040, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1040, "end_frame": 1228, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1228, "end_frame": 1380, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1380, "end_frame": 1636, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680115, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 380, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 599, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 599, "end_frame": 757, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 1007, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1007, "end_frame": 1127, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1127, "end_frame": 1323, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1323, "end_frame": 1459, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1459, "end_frame": 1765, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680136, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 394, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 622, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 622, "end_frame": 780, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 928, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1053, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1214, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1214, "end_frame": 1353, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1353, "end_frame": 1611, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680143, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 388, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 540, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 673, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 804, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 804, "end_frame": 941, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 941, "end_frame": 1086, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1086, "end_frame": 1200, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1200, "end_frame": 1458, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680160, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 387, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 544, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 544, "end_frame": 664, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 800, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 800, "end_frame": 947, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1113, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1239, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1239, "end_frame": 1434, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680200, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 253, "end_frame": 407, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 545, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 545, "end_frame": 681, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 850, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 850, "end_frame": 966, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1151, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1151, "end_frame": 1267, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1267, "end_frame": 1421, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680212, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 358, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 593, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 593, "end_frame": 779, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 779, "end_frame": 953, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1112, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1338, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1338, "end_frame": 1493, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1493, "end_frame": 1629, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680230, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 233, "end_frame": 396, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 565, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 565, "end_frame": 693, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 693, "end_frame": 903, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1064, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1064, "end_frame": 1231, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1357, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1357, "end_frame": 1494, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680264, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 252, "end_frame": 447, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 627, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 627, "end_frame": 759, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 936, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1066, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1220, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1386, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1386, "end_frame": 1659, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680279, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 270, "end_frame": 424, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 601, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 601, "end_frame": 748, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 900, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1014, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1166, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1166, "end_frame": 1308, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1308, "end_frame": 1532, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680294, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 387, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 549, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 549, "end_frame": 690, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 876, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 876, "end_frame": 1007, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1007, "end_frame": 1165, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1165, "end_frame": 1291, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1291, "end_frame": 1482, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680315, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 416, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 612, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 612, "end_frame": 773, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 921, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 921, "end_frame": 1079, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1079, "end_frame": 1288, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1452, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1452, "end_frame": 1756, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680331, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 430, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 618, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 618, "end_frame": 747, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 747, "end_frame": 896, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1008, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1174, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1174, "end_frame": 1316, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1569, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680348, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 433, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 595, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 771, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 929, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1076, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1076, "end_frame": 1297, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1297, "end_frame": 1425, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1425, "end_frame": 1543, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680363, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 362, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 533, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 533, "end_frame": 702, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 899, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 899, "end_frame": 1030, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1030, "end_frame": 1168, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1168, "end_frame": 1306, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1306, "end_frame": 1431, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680381, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 245, "end_frame": 420, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 566, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 566, "end_frame": 781, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 943, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1087, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1087, "end_frame": 1248, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1386, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1386, "end_frame": 1500, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680395, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 377, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 600, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 600, "end_frame": 714, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 714, "end_frame": 873, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 873, "end_frame": 1008, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1171, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1328, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1328, "end_frame": 1432, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680413, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 252, "end_frame": 400, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 558, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 558, "end_frame": 685, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 846, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1033, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1033, "end_frame": 1209, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1209, "end_frame": 1350, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1503, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680454, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 182, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 182, "end_frame": 334, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 490, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 490, "end_frame": 683, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 683, "end_frame": 995, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 995, "end_frame": 1125, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1125, "end_frame": 1292, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1442, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1442, "end_frame": 1560, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680468, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 444, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 621, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 621, "end_frame": 735, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 920, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1036, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1254, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1254, "end_frame": 1401, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1401, "end_frame": 1558, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683685, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 336, "end_frame": 505, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 667, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 667, "end_frame": 814, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 814, "end_frame": 948, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 948, "end_frame": 1082, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1082, "end_frame": 1286, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1349, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1349, "end_frame": 1493, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683691, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 405, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 405, "end_frame": 590, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 831, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 831, "end_frame": 981, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 981, "end_frame": 1176, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1330, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1330, "end_frame": 1447, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1447, "end_frame": 1609, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1609, "end_frame": 1766, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683698, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 338, "end_frame": 531, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 686, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 686, "end_frame": 894, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1008, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1118, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1300, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1300, "end_frame": 1463, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1463, "end_frame": 1562, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683705, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 262, "end_frame": 490, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 786, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 786, "end_frame": 902, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1059, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1238, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1238, "end_frame": 1372, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1372, "end_frame": 1500, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1500, "end_frame": 1641, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683710, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 236, "end_frame": 419, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 535, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 535, "end_frame": 688, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 825, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 825, "end_frame": 979, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 979, "end_frame": 1248, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1381, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1488, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683755, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 274, "end_frame": 444, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 648, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 648, "end_frame": 799, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 996, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1118, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1291, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1291, "end_frame": 1461, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1461, "end_frame": 1761, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683765, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 332, "end_frame": 490, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 669, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 669, "end_frame": 824, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 993, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 993, "end_frame": 1117, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1117, "end_frame": 1328, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1328, "end_frame": 1462, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1462, "end_frame": 1718, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683774, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 252, "end_frame": 542, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 696, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 696, "end_frame": 892, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1054, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1054, "end_frame": 1230, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1230, "end_frame": 1462, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1462, "end_frame": 1596, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1596, "end_frame": 1859, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683788, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 298, "end_frame": 493, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 493, "end_frame": 688, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 688, "end_frame": 829, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 829, "end_frame": 994, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 994, "end_frame": 1110, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1110, "end_frame": 1360, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1360, "end_frame": 1503, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1503, "end_frame": 1771, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683806, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 299, "end_frame": 469, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 659, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 659, "end_frame": 780, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 907, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1026, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1026, "end_frame": 1216, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1409, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1409, "end_frame": 1688, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683831, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 442, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 615, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 755, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 925, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1047, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1047, "end_frame": 1282, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1422, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1422, "end_frame": 1688, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683841, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 307, "end_frame": 458, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 458, "end_frame": 742, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 742, "end_frame": 896, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 896, "end_frame": 1096, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1241, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1241, "end_frame": 1394, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1394, "end_frame": 1542, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1542, "end_frame": 1811, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683853, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 198, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 198, "end_frame": 483, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 595, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 823, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 922, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1078, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1078, "end_frame": 1226, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1383, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1383, "end_frame": 1645, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683860, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 326, "end_frame": 468, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 468, "end_frame": 648, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 648, "end_frame": 784, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 971, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1118, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1274, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1274, "end_frame": 1445, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1445, "end_frame": 1753, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683870, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 224, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 224, "end_frame": 396, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 597, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 597, "end_frame": 718, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 900, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1027, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1286, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1415, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1415, "end_frame": 1753, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683876, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 430, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 578, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 578, "end_frame": 790, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 962, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1093, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1093, "end_frame": 1236, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1236, "end_frame": 1358, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1358, "end_frame": 1566, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683885, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 450, "action_text": "Grab the sandwich cookies on the table with the right arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 600, "action_text": "Place the grasped sandwich cookies into blue nylon bag.", "skill": "Place" }, { "start_frame": 600, "end_frame": 721, "action_text": "Grasp the bath ball on the table with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 923, "action_text": "Place the grasped bath ball into blue nylon bag.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1041, "action_text": "Retrieve the tea pi from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1235, "action_text": "Place the grasped tea pi into blue nylon bag.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1355, "action_text": "Grab the blue hand cream on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1355, "end_frame": 1639, "action_text": "Place the grasped blue hand cream into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672208, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 361, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 502, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 502, "end_frame": 674, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 848, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 848, "end_frame": 962, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1126, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1126, "end_frame": 1288, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1557, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672833, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 297, "end_frame": 503, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 503, "end_frame": 705, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 705, "end_frame": 840, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 840, "end_frame": 1033, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1033, "end_frame": 1170, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1170, "end_frame": 1366, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1366, "end_frame": 1597, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1597, "end_frame": 1866, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672858, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 528, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 692, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 692, "end_frame": 817, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 961, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 961, "end_frame": 1078, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1078, "end_frame": 1258, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1258, "end_frame": 1401, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1401, "end_frame": 1766, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672884, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 253, "end_frame": 453, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 604, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 604, "end_frame": 819, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 819, "end_frame": 992, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1153, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1153, "end_frame": 1320, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1446, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1446, "end_frame": 1823, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672995, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 408, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 620, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 620, "end_frame": 817, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 1005, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1005, "end_frame": 1154, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1154, "end_frame": 1329, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1329, "end_frame": 1456, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1456, "end_frame": 1768, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673018, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 474, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 474, "end_frame": 701, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 701, "end_frame": 845, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 1009, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1009, "end_frame": 1127, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1127, "end_frame": 1333, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1333, "end_frame": 1512, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1512, "end_frame": 1803, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673068, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 536, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 715, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 715, "end_frame": 872, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1055, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1183, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1183, "end_frame": 1360, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1360, "end_frame": 1536, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1536, "end_frame": 1850, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674304, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 214, "end_frame": 416, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 542, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 542, "end_frame": 674, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 827, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 827, "end_frame": 944, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1124, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1259, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1259, "end_frame": 1529, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674318, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 457, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 457, "end_frame": 635, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 635, "end_frame": 808, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 995, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 995, "end_frame": 1123, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1279, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1279, "end_frame": 1423, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1423, "end_frame": 1674, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674350, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 399, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 617, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 617, "end_frame": 764, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 935, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1092, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1092, "end_frame": 1295, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1295, "end_frame": 1559, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1559, "end_frame": 1862, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1295, "end": 1559, "description": "" } ] } }, { "episode_id": 674377, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 508, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 508, "end_frame": 698, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 698, "end_frame": 881, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 881, "end_frame": 1027, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1154, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1154, "end_frame": 1293, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1293, "end_frame": 1433, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1433, "end_frame": 1740, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674389, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 478, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 679, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 679, "end_frame": 867, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 982, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 982, "end_frame": 1133, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1133, "end_frame": 1351, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1351, "end_frame": 1542, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1542, "end_frame": 1820, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674456, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 272, "end_frame": 477, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 613, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 613, "end_frame": 815, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 970, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1140, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1257, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1257, "end_frame": 1377, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1377, "end_frame": 1638, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674529, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 388, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 528, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 528, "end_frame": 746, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 906, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1005, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1141, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1244, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1349, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677515, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 280, "end_frame": 415, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 415, "end_frame": 598, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 598, "end_frame": 748, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 957, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1049, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1049, "end_frame": 1248, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1366, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1366, "end_frame": 1559, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677541, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 604, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 799, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 799, "end_frame": 943, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 943, "end_frame": 1145, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1266, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1266, "end_frame": 1463, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1463, "end_frame": 1638, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1638, "end_frame": 1954, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677560, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 570, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 570, "end_frame": 721, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 721, "end_frame": 888, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1048, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1048, "end_frame": 1180, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1180, "end_frame": 1363, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1363, "end_frame": 1482, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1482, "end_frame": 1726, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677708, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 279, "end_frame": 633, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 882, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1047, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1047, "end_frame": 1234, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1234, "end_frame": 1378, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1488, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1488, "end_frame": 1628, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1628, "end_frame": 1780, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677732, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 234, "end_frame": 535, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 698, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 698, "end_frame": 845, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 1081, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1202, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1202, "end_frame": 1416, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1416, "end_frame": 1568, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1568, "end_frame": 1717, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677761, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 234, "end_frame": 515, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 515, "end_frame": 668, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 668, "end_frame": 820, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 962, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1084, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1084, "end_frame": 1243, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1374, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1374, "end_frame": 1529, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677771, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 489, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 724, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 724, "end_frame": 957, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 957, "end_frame": 1143, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1143, "end_frame": 1271, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1271, "end_frame": 1482, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1482, "end_frame": 1598, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1598, "end_frame": 1775, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677821, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 258, "end_frame": 447, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 754, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 754, "end_frame": 955, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 955, "end_frame": 1109, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1109, "end_frame": 1220, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1220, "end_frame": 1393, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1393, "end_frame": 1506, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1506, "end_frame": 1643, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677887, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 456, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 672, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 672, "end_frame": 854, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1043, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1043, "end_frame": 1159, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1159, "end_frame": 1310, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1310, "end_frame": 1474, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1474, "end_frame": 1614, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677897, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 297, "end_frame": 445, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 445, "end_frame": 639, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 639, "end_frame": 785, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 785, "end_frame": 1024, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1024, "end_frame": 1187, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1187, "end_frame": 1361, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1361, "end_frame": 1499, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1499, "end_frame": 1663, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677941, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 304, "end_frame": 509, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 509, "end_frame": 688, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 688, "end_frame": 846, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 846, "end_frame": 1032, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1032, "end_frame": 1216, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1216, "end_frame": 1390, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1390, "end_frame": 1524, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1524, "end_frame": 1703, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677959, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 232, "end_frame": 385, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 541, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 541, "end_frame": 682, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 861, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 861, "end_frame": 967, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 967, "end_frame": 1127, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1127, "end_frame": 1281, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1281, "end_frame": 1416, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677979, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 218, "end_frame": 582, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 582, "end_frame": 724, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 724, "end_frame": 869, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1034, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1034, "end_frame": 1141, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1359, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1359, "end_frame": 1495, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1495, "end_frame": 1629, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685483, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 260, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 499, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 685, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 685, "end_frame": 953, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 953, "end_frame": 1058, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1290, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1290, "end_frame": 1446, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1446, "end_frame": 1651, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1651, "end_frame": 1913, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685508, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 232, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 232, "end_frame": 437, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 585, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 585, "end_frame": 772, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 884, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 884, "end_frame": 1049, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1049, "end_frame": 1303, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1303, "end_frame": 1454, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1454, "end_frame": 1708, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685564, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 201, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 201, "end_frame": 436, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 691, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 691, "end_frame": 841, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 841, "end_frame": 1042, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1042, "end_frame": 1172, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1172, "end_frame": 1416, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1416, "end_frame": 1551, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1551, "end_frame": 1791, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685576, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 395, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 604, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 604, "end_frame": 715, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 918, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1058, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1058, "end_frame": 1290, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1438, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1438, "end_frame": 1699, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685592, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 222, "end_frame": 500, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 500, "end_frame": 691, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 691, "end_frame": 855, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 855, "end_frame": 1017, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1148, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1148, "end_frame": 1337, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1337, "end_frame": 1430, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 1639, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685622, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 447, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 601, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 601, "end_frame": 724, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 899, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 899, "end_frame": 1008, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1196, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1377, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1377, "end_frame": 1603, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685637, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 227, "end_frame": 402, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 618, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 618, "end_frame": 760, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 962, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1093, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1093, "end_frame": 1311, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1453, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1453, "end_frame": 1690, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685649, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 398, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 398, "end_frame": 589, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 589, "end_frame": 815, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 971, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1120, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1120, "end_frame": 1356, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1356, "end_frame": 1505, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1505, "end_frame": 1758, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685665, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 187, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 187, "end_frame": 482, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 482, "end_frame": 618, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 618, "end_frame": 764, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 942, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 942, "end_frame": 1078, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1078, "end_frame": 1291, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1291, "end_frame": 1422, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1422, "end_frame": 1664, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685685, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 302, "end_frame": 497, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 497, "end_frame": 700, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 700, "end_frame": 930, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1137, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1137, "end_frame": 1272, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1272, "end_frame": 1582, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1582, "end_frame": 1707, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1707, "end_frame": 1922, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685700, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 446, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 446, "end_frame": 604, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 604, "end_frame": 860, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1005, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1005, "end_frame": 1139, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1139, "end_frame": 1324, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1324, "end_frame": 1442, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1442, "end_frame": 1647, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685721, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 216, "end_frame": 404, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 404, "end_frame": 608, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 608, "end_frame": 749, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 749, "end_frame": 935, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1100, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1100, "end_frame": 1382, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1382, "end_frame": 1479, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1479, "end_frame": 1720, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685745, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 233, "end_frame": 379, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 567, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 567, "end_frame": 702, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 888, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1045, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1045, "end_frame": 1297, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1297, "end_frame": 1450, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1450, "end_frame": 1687, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685751, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 202, "end_frame": 454, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 454, "end_frame": 637, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 637, "end_frame": 765, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 923, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1047, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1047, "end_frame": 1280, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1280, "end_frame": 1419, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1419, "end_frame": 1630, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685767, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 382, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 545, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 545, "end_frame": 753, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 910, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1051, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1051, "end_frame": 1254, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1254, "end_frame": 1391, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1391, "end_frame": 1685, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685776, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 353, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 527, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 527, "end_frame": 663, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 819, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 819, "end_frame": 950, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1143, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1143, "end_frame": 1285, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1285, "end_frame": 1537, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685791, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 382, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 530, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 530, "end_frame": 673, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 823, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 823, "end_frame": 980, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 980, "end_frame": 1102, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1102, "end_frame": 1232, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1445, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685804, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 385, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 651, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 651, "end_frame": 791, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 791, "end_frame": 943, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1058, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1058, "end_frame": 1233, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1233, "end_frame": 1378, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1614, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685821, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 393, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 564, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 564, "end_frame": 722, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 870, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 870, "end_frame": 991, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 991, "end_frame": 1176, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1324, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1324, "end_frame": 1570, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685837, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 537, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 537, "end_frame": 690, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 690, "end_frame": 820, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 955, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1098, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1288, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1411, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1411, "end_frame": 1654, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685849, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 474, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 474, "end_frame": 641, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 641, "end_frame": 777, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 910, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1023, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1216, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1319, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1319, "end_frame": 1511, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685863, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 199, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 199, "end_frame": 378, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 524, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 524, "end_frame": 630, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 757, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 757, "end_frame": 884, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1060, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1060, "end_frame": 1166, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1166, "end_frame": 1359, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685872, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 363, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 524, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 524, "end_frame": 712, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 853, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 853, "end_frame": 970, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1156, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1156, "end_frame": 1340, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1340, "end_frame": 1567, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685891, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 211, "end_frame": 396, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 543, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 543, "end_frame": 657, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 784, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 784, "end_frame": 940, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 940, "end_frame": 1129, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1129, "end_frame": 1260, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1260, "end_frame": 1503, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685906, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 402, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 559, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 559, "end_frame": 685, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 827, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 827, "end_frame": 950, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1145, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1280, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1280, "end_frame": 1457, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685916, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 389, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 540, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 695, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 806, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 806, "end_frame": 907, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 907, "end_frame": 1057, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1057, "end_frame": 1178, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1178, "end_frame": 1375, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685944, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 375, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 530, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 530, "end_frame": 684, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 819, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 819, "end_frame": 933, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1128, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1128, "end_frame": 1307, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1307, "end_frame": 1457, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685955, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 375, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 503, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 503, "end_frame": 626, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 734, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 734, "end_frame": 857, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 857, "end_frame": 1013, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1124, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1124, "end_frame": 1327, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685976, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 198, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 198, "end_frame": 306, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 456, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 456, "end_frame": 575, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 733, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 733, "end_frame": 836, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 957, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1061, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1061, "end_frame": 1228, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686003, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 385, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 622, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 622, "end_frame": 775, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 874, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 874, "end_frame": 1041, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1195, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1354, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1556, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686013, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 211, "end_frame": 334, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 471, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 471, "end_frame": 590, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 724, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 724, "end_frame": 842, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 1044, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1223, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1223, "end_frame": 1388, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686025, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 200, "end_frame": 376, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 581, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 581, "end_frame": 722, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 907, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1061, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1061, "end_frame": 1170, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1314, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1314, "end_frame": 1481, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686038, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 341, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 464, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 464, "end_frame": 597, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 708, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 708, "end_frame": 838, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 838, "end_frame": 1028, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1028, "end_frame": 1141, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1386, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686048, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 189, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 189, "end_frame": 317, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 422, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 422, "end_frame": 524, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 524, "end_frame": 630, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 630, "end_frame": 766, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 880, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 880, "end_frame": 1014, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1225, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686088, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 207, "end_frame": 383, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 504, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 504, "end_frame": 678, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 803, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 803, "end_frame": 913, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1101, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1235, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1235, "end_frame": 1441, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686099, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 187, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 187, "end_frame": 370, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 467, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 467, "end_frame": 617, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 727, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 727, "end_frame": 866, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1056, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1056, "end_frame": 1175, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1175, "end_frame": 1411, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686112, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 384, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 524, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 524, "end_frame": 684, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 815, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 815, "end_frame": 931, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1101, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1235, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1235, "end_frame": 1440, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686125, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 195, "end_frame": 358, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 522, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 522, "end_frame": 673, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 786, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 786, "end_frame": 889, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 889, "end_frame": 1053, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1173, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1173, "end_frame": 1379, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686145, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 205, "end_frame": 342, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 491, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 491, "end_frame": 654, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 801, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 801, "end_frame": 940, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 940, "end_frame": 1068, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1068, "end_frame": 1198, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1198, "end_frame": 1320, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686166, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 396, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 526, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 526, "end_frame": 644, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 644, "end_frame": 763, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 763, "end_frame": 890, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 890, "end_frame": 1020, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1020, "end_frame": 1161, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1161, "end_frame": 1411, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686181, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 219, "end_frame": 357, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 491, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 491, "end_frame": 665, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 665, "end_frame": 810, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 810, "end_frame": 920, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 920, "end_frame": 1077, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1077, "end_frame": 1253, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1253, "end_frame": 1432, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686195, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 197, "end_frame": 389, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 506, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 506, "end_frame": 632, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 768, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 768, "end_frame": 874, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1058, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1173, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1173, "end_frame": 1370, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686225, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 187, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 187, "end_frame": 422, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 422, "end_frame": 553, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 553, "end_frame": 698, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 829, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 829, "end_frame": 960, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1126, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1126, "end_frame": 1231, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1231, "end_frame": 1430, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686238, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 216, "end_frame": 342, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 454, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 454, "end_frame": 676, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 808, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 808, "end_frame": 934, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 934, "end_frame": 1089, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1089, "end_frame": 1210, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1210, "end_frame": 1417, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686250, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 211, "end_frame": 336, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 470, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 470, "end_frame": 631, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 761, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 761, "end_frame": 885, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 885, "end_frame": 1034, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1034, "end_frame": 1155, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1155, "end_frame": 1355, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686268, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 197, "end_frame": 313, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 422, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 422, "end_frame": 644, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 644, "end_frame": 776, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 776, "end_frame": 893, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1069, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1069, "end_frame": 1172, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1172, "end_frame": 1366, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686279, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 209, "end_frame": 380, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 505, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 505, "end_frame": 639, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 784, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 784, "end_frame": 897, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1080, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1080, "end_frame": 1223, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1223, "end_frame": 1470, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686294, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 219, "end_frame": 335, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 459, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 459, "end_frame": 554, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 702, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 702, "end_frame": 835, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 835, "end_frame": 1017, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1170, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1170, "end_frame": 1378, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686303, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 179, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 179, "end_frame": 383, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 564, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 564, "end_frame": 735, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 857, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 857, "end_frame": 976, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 976, "end_frame": 1125, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1230, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1230, "end_frame": 1470, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686315, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 189, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 189, "end_frame": 356, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 478, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 478, "end_frame": 624, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 781, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 781, "end_frame": 942, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 942, "end_frame": 1081, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1190, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1190, "end_frame": 1407, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686325, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 175, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 175, "end_frame": 286, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 418, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 418, "end_frame": 859, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 859, "end_frame": 988, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1120, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1120, "end_frame": 1236, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1236, "end_frame": 1355, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1355, "end_frame": 1571, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686342, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 195, "end_frame": 319, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 437, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 437, "end_frame": 797, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 923, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1037, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1037, "end_frame": 1168, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1168, "end_frame": 1297, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1297, "end_frame": 1505, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686360, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 190, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 190, "end_frame": 469, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 626, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 626, "end_frame": 770, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 917, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1053, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1200, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1200, "end_frame": 1318, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1318, "end_frame": 1512, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686373, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 203, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 203, "end_frame": 339, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 549, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 549, "end_frame": 711, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 863, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 863, "end_frame": 987, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1145, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1285, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1285, "end_frame": 1453, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686385, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 211, "end_frame": 619, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 619, "end_frame": 770, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 770, "end_frame": 894, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1021, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 1021, "end_frame": 1139, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1139, "end_frame": 1278, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1278, "end_frame": 1385, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1385, "end_frame": 1588, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 211, "end": 619, "description": "" } ] } }, { "episode_id": 686396, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 208, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 208, "end_frame": 444, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 570, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 570, "end_frame": 717, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 834, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 834, "end_frame": 941, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 941, "end_frame": 1102, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 1102, "end_frame": 1224, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1224, "end_frame": 1394, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686404, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 165, "action_text": "Grasp the left arm with blue nylon bag.", "skill": "Grasp" }, { "start_frame": 165, "end_frame": 305, "action_text": "Grab the sunflower seeds on the table with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 426, "action_text": "Place the grasped sunflower seeds into blue nylon bag.", "skill": "Place" }, { "start_frame": 426, "end_frame": 577, "action_text": "Grasp the cookie biscuit on the table with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 689, "action_text": "Place the grasped cookie biscuit into blue nylon bag.", "skill": "Place" }, { "start_frame": 689, "end_frame": 799, "action_text": "Retrieve the cola from the table with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 948, "action_text": "Place the grasped cola into blue nylon bag.", "skill": "Place" }, { "start_frame": 948, "end_frame": 1079, "action_text": "Grab the facial cleanser on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1079, "end_frame": 1265, "action_text": "Place the grasped facial cleanser into blue nylon bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675587, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 182, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 182, "end_frame": 359, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 481, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 481, "end_frame": 619, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 619, "end_frame": 726, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 726, "end_frame": 822, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 822, "end_frame": 896, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1053, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1294, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 675674, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 157, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 157, "end_frame": 311, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 404, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 404, "end_frame": 541, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 637, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 637, "end_frame": 758, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 843, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 843, "end_frame": 987, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1189, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676104, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 228, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 485, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 485, "end_frame": 580, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 580, "end_frame": 758, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 885, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1039, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1039, "end_frame": 1149, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1149, "end_frame": 1355, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1355, "end_frame": 1608, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676122, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 225, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 225, "end_frame": 428, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 428, "end_frame": 586, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 586, "end_frame": 758, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 952, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1060, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1060, "end_frame": 1182, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1182, "end_frame": 1327, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1327, "end_frame": 1698, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676142, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 217, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 416, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 579, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 579, "end_frame": 716, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 878, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 878, "end_frame": 1033, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1033, "end_frame": 1170, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1309, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1309, "end_frame": 1741, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676200, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 300, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 480, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 657, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 657, "end_frame": 777, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 925, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1024, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1024, "end_frame": 1157, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1157, "end_frame": 1277, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1277, "end_frame": 1712, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676215, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 176, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 176, "end_frame": 429, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 559, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 559, "end_frame": 684, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 803, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 803, "end_frame": 909, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 909, "end_frame": 1053, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1169, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1169, "end_frame": 1525, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 176, "end": 429, "description": "" } ] } }, { "episode_id": 676238, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 230, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 412, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 540, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 853, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 978, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 978, "end_frame": 1126, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1126, "end_frame": 1236, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1236, "end_frame": 1377, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1377, "end_frame": 1651, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676264, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 78, "end_frame": 208, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 208, "end_frame": 394, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 487, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 487, "end_frame": 662, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 788, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 788, "end_frame": 916, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 916, "end_frame": 1017, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1168, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1168, "end_frame": 1473, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676291, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 276, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 276, "end_frame": 462, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 561, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 561, "end_frame": 721, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 824, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 824, "end_frame": 966, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1098, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1098, "end_frame": 1242, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1242, "end_frame": 1589, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689915, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 223, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 223, "end_frame": 364, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 538, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 538, "end_frame": 708, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 869, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 869, "end_frame": 990, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 990, "end_frame": 1177, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1327, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1327, "end_frame": 1684, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689924, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 236, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 236, "end_frame": 367, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 586, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 586, "end_frame": 753, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 1040, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1040, "end_frame": 1220, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1220, "end_frame": 1441, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1441, "end_frame": 1570, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1570, "end_frame": 1881, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689933, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 258, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 258, "end_frame": 436, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 647, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 647, "end_frame": 807, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 807, "end_frame": 1030, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1185, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1185, "end_frame": 1451, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1451, "end_frame": 1564, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1564, "end_frame": 2013, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689946, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 250, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 250, "end_frame": 385, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 590, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 590, "end_frame": 756, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 921, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 921, "end_frame": 1127, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1127, "end_frame": 1306, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1306, "end_frame": 1451, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1451, "end_frame": 1733, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689959, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 226, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 226, "end_frame": 408, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 595, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 776, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 776, "end_frame": 937, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 937, "end_frame": 1057, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1057, "end_frame": 1201, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1347, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1347, "end_frame": 1594, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689979, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 215, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 341, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 686, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 686, "end_frame": 812, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 968, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1150, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1150, "end_frame": 1331, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1331, "end_frame": 1436, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1436, "end_frame": 1736, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689987, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 263, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 394, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 570, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 570, "end_frame": 709, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 872, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 872, "end_frame": 1020, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1269, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1395, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1395, "end_frame": 1753, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689993, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 246, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 384, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 666, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 666, "end_frame": 862, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1064, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1064, "end_frame": 1232, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1398, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1398, "end_frame": 1507, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1507, "end_frame": 1760, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690049, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 237, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 237, "end_frame": 361, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 582, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 582, "end_frame": 713, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 854, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 854, "end_frame": 988, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 988, "end_frame": 1192, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1288, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1769, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690056, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 250, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 250, "end_frame": 440, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 644, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 644, "end_frame": 816, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 1043, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1043, "end_frame": 1160, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1160, "end_frame": 1329, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1329, "end_frame": 1458, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1458, "end_frame": 1740, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690063, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 213, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 381, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 563, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 563, "end_frame": 723, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 892, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 892, "end_frame": 1066, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1193, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1193, "end_frame": 1317, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1317, "end_frame": 1632, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690069, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 332, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 332, "end_frame": 474, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 474, "end_frame": 707, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 707, "end_frame": 809, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 981, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1102, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1102, "end_frame": 1295, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1295, "end_frame": 1439, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1439, "end_frame": 1771, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690080, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 284, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 284, "end_frame": 502, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 502, "end_frame": 785, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 785, "end_frame": 1043, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1043, "end_frame": 1222, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1222, "end_frame": 1408, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1408, "end_frame": 1645, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1645, "end_frame": 1744, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1744, "end_frame": 2049, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690092, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 263, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 431, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 622, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 622, "end_frame": 795, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 1045, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1045, "end_frame": 1261, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1261, "end_frame": 1423, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1423, "end_frame": 1812, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1812, "end_frame": 2102, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1423, "end": 1812, "description": "" } ] } }, { "episode_id": 690106, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 251, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 370, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 558, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 558, "end_frame": 729, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 729, "end_frame": 932, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 932, "end_frame": 1048, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1048, "end_frame": 1336, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1336, "end_frame": 1490, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1490, "end_frame": 1819, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690128, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 279, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 279, "end_frame": 480, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 712, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 712, "end_frame": 863, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 863, "end_frame": 1015, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1015, "end_frame": 1244, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1495, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1495, "end_frame": 1669, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1669, "end_frame": 2035, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690147, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 263, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 467, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 703, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 703, "end_frame": 866, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1043, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1043, "end_frame": 1221, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1221, "end_frame": 1434, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1434, "end_frame": 1566, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1566, "end_frame": 1860, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690170, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 225, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 225, "end_frame": 392, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 552, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 552, "end_frame": 692, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 917, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1077, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1077, "end_frame": 1423, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1423, "end_frame": 1554, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1554, "end_frame": 1861, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690181, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 289, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 289, "end_frame": 424, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 595, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 783, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 1059, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1207, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1207, "end_frame": 1349, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1470, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1470, "end_frame": 1791, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690246, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 380, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 603, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 603, "end_frame": 780, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 961, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 961, "end_frame": 1083, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1083, "end_frame": 1259, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1259, "end_frame": 1367, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1367, "end_frame": 1522, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690260, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 277, "end_frame": 451, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 451, "end_frame": 673, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 673, "end_frame": 947, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1103, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 1294, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1294, "end_frame": 1552, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1552, "end_frame": 1690, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1690, "end_frame": 1942, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690295, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 279, "end_frame": 438, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 638, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 638, "end_frame": 843, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1027, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1158, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1158, "end_frame": 1311, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1437, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1437, "end_frame": 1619, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690313, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 337, "end_frame": 501, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 501, "end_frame": 712, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 712, "end_frame": 893, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1079, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1079, "end_frame": 1251, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1251, "end_frame": 1421, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1421, "end_frame": 1536, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1536, "end_frame": 1741, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690325, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 254, "end_frame": 456, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 616, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 616, "end_frame": 772, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 930, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1065, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1065, "end_frame": 1260, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1260, "end_frame": 1387, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1387, "end_frame": 1629, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690335, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 316, "end_frame": 472, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 472, "end_frame": 735, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 735, "end_frame": 982, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 982, "end_frame": 1243, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1378, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1663, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1663, "end_frame": 1835, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1835, "end_frame": 2082, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690350, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 299, "end_frame": 475, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 862, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 862, "end_frame": 1017, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1172, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1172, "end_frame": 1343, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1343, "end_frame": 1527, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1527, "end_frame": 1616, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1616, "end_frame": 1873, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690365, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 227, "end_frame": 380, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 541, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 541, "end_frame": 681, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 869, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1008, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1203, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1203, "end_frame": 1288, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1586, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690430, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 286, "end_frame": 413, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 627, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 627, "end_frame": 791, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 791, "end_frame": 1017, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1164, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1164, "end_frame": 1330, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1330, "end_frame": 1434, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1434, "end_frame": 1696, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690452, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 406, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 406, "end_frame": 621, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 621, "end_frame": 757, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 925, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1043, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1043, "end_frame": 1212, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1212, "end_frame": 1356, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1356, "end_frame": 1638, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690481, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 324, "end_frame": 486, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 486, "end_frame": 796, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 796, "end_frame": 929, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 929, "end_frame": 1114, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1114, "end_frame": 1233, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1233, "end_frame": 1430, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1430, "end_frame": 1603, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1603, "end_frame": 1907, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690499, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 313, "end_frame": 447, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 703, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 703, "end_frame": 857, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 857, "end_frame": 1057, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1057, "end_frame": 1186, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1186, "end_frame": 1418, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1418, "end_frame": 1580, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1580, "end_frame": 1930, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690511, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 459, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 711, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 711, "end_frame": 882, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1081, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1464, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1464, "end_frame": 1731, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1731, "end_frame": 1850, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1850, "end_frame": 2098, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690527, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 310, "end_frame": 425, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 578, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 578, "end_frame": 741, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 936, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1272, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1272, "end_frame": 1428, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1428, "end_frame": 1575, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1575, "end_frame": 1837, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690539, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 449, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 702, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 702, "end_frame": 836, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 977, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1133, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1133, "end_frame": 1322, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1322, "end_frame": 1431, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1431, "end_frame": 1580, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690564, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 397, "end_frame": 595, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 746, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 746, "end_frame": 901, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1051, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1051, "end_frame": 1202, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1202, "end_frame": 1393, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1393, "end_frame": 1538, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1538, "end_frame": 1740, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690574, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 303, "end_frame": 452, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 452, "end_frame": 667, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 667, "end_frame": 848, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 992, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1097, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1097, "end_frame": 1229, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1346, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1346, "end_frame": 1683, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690590, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 315, "end_frame": 442, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 651, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 651, "end_frame": 765, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 936, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1059, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1059, "end_frame": 1265, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1265, "end_frame": 1400, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1400, "end_frame": 1867, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690614, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 388, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 576, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 576, "end_frame": 733, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 733, "end_frame": 905, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1050, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1050, "end_frame": 1252, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1252, "end_frame": 1415, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1415, "end_frame": 1650, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690635, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 343, "end_frame": 531, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 746, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 746, "end_frame": 904, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1083, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1083, "end_frame": 1244, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1443, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1443, "end_frame": 1575, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1575, "end_frame": 1947, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690642, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 343, "end_frame": 480, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 818, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 818, "end_frame": 929, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 929, "end_frame": 1171, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1364, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1364, "end_frame": 1590, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1590, "end_frame": 1741, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1741, "end_frame": 1921, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690683, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 315, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 315, "end_frame": 481, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 678, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 678, "end_frame": 788, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 969, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 969, "end_frame": 1107, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1107, "end_frame": 1271, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1271, "end_frame": 1407, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1407, "end_frame": 1700, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690734, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 282, "end_frame": 441, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 441, "end_frame": 659, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 659, "end_frame": 855, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 855, "end_frame": 1051, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1051, "end_frame": 1202, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1202, "end_frame": 1393, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1393, "end_frame": 1516, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1516, "end_frame": 1796, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690749, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 406, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 406, "end_frame": 561, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 561, "end_frame": 780, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 974, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1100, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1100, "end_frame": 1241, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1241, "end_frame": 1343, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1343, "end_frame": 1549, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690760, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 276, "end_frame": 446, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 446, "end_frame": 823, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 823, "end_frame": 977, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 977, "end_frame": 1125, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1246, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1246, "end_frame": 1451, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1451, "end_frame": 1565, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1565, "end_frame": 1796, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690772, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 305, "end_frame": 451, "action_text": "Grab the hand sanitizer on the table with the right arm.", "skill": "Pick" }, { "start_frame": 451, "end_frame": 693, "action_text": "Place the grasped hand sanitizer into red canvas tote bag.", "skill": "Place" }, { "start_frame": 693, "end_frame": 876, "action_text": "Grasp the blue toothbrush cup on the table with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 1022, "action_text": "Place the grasped blue toothbrush cup into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1022, "end_frame": 1141, "action_text": "Retrieve the sandwich cookies from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1317, "action_text": "Place the grasped sandwich cookies into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1317, "end_frame": 1441, "action_text": "Grab the laver on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1441, "end_frame": 1720, "action_text": "Place the grasped laver into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663066, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 209, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 209, "end_frame": 345, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 548, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 548, "end_frame": 717, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 835, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 835, "end_frame": 937, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 937, "end_frame": 1058, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1171, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1171, "end_frame": 1531, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663085, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 260, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 386, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 547, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 547, "end_frame": 714, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 714, "end_frame": 816, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 816, "end_frame": 1030, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1030, "end_frame": 1161, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1161, "end_frame": 1288, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1706, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663113, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 318, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 318, "end_frame": 448, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 606, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 606, "end_frame": 780, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 902, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1064, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1064, "end_frame": 1171, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1316, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1698, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663135, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 222, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 222, "end_frame": 373, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 525, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 525, "end_frame": 703, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 838, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 838, "end_frame": 980, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 980, "end_frame": 1099, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1201, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1651, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663155, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 479, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 479, "end_frame": 662, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 662, "end_frame": 868, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 975, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1158, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1158, "end_frame": 1287, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1287, "end_frame": 1430, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 1824, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663172, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 344, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 519, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 519, "end_frame": 696, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 806, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 806, "end_frame": 960, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1082, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1275, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1275, "end_frame": 1639, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663208, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 365, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 505, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 505, "end_frame": 652, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 799, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 799, "end_frame": 948, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1068, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1068, "end_frame": 1189, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1189, "end_frame": 1632, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663227, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 258, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 258, "end_frame": 421, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 594, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 594, "end_frame": 777, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 892, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 892, "end_frame": 1084, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1084, "end_frame": 1216, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1344, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1344, "end_frame": 1776, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663252, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 228, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 427, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 612, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 612, "end_frame": 811, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 927, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1091, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1091, "end_frame": 1191, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1191, "end_frame": 1339, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1339, "end_frame": 1777, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663268, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 198, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 198, "end_frame": 361, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 528, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 528, "end_frame": 707, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 814, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 814, "end_frame": 935, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 935, "end_frame": 1055, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1199, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1199, "end_frame": 1580, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663289, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 2, "end_frame": 202, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 202, "end_frame": 345, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 518, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 518, "end_frame": 695, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 817, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 817, "end_frame": 950, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1077, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1077, "end_frame": 1220, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1220, "end_frame": 1584, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663334, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 172, "end_frame": 309, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 512, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 512, "end_frame": 1008, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1115, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1115, "end_frame": 1268, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1268, "end_frame": 1389, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1532, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1532, "end_frame": 1894, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663358, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 297, "end_frame": 416, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 583, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 583, "end_frame": 728, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 871, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 871, "end_frame": 987, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1120, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1120, "end_frame": 1402, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1402, "end_frame": 1696, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1120, "end": 1402, "description": "" } ] } }, { "episode_id": 663371, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 233, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 233, "end_frame": 411, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 601, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 601, "end_frame": 833, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 1039, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1039, "end_frame": 1184, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1184, "end_frame": 1299, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1299, "end_frame": 1446, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1446, "end_frame": 1943, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663393, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 384, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 384, "end_frame": 558, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 757, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 757, "end_frame": 894, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1026, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1026, "end_frame": 1134, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1134, "end_frame": 1245, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1353, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1353, "end_frame": 1827, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663416, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 217, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 354, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 552, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 552, "end_frame": 697, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 697, "end_frame": 840, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 840, "end_frame": 982, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 982, "end_frame": 1118, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1243, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1243, "end_frame": 1708, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663440, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 179, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 179, "end_frame": 297, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 547, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 547, "end_frame": 654, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 775, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 775, "end_frame": 879, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1011, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1011, "end_frame": 1129, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1129, "end_frame": 1797, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663473, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 182, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 182, "end_frame": 318, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 543, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 543, "end_frame": 792, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 909, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1032, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1032, "end_frame": 1229, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1350, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1785, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663500, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 147, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 147, "end_frame": 277, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 483, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 483, "end_frame": 616, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 748, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 748, "end_frame": 865, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 865, "end_frame": 992, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1124, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1124, "end_frame": 1481, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663564, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 230, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 369, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 553, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 553, "end_frame": 843, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 984, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 984, "end_frame": 1159, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1159, "end_frame": 1286, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1426, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1426, "end_frame": 1810, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663602, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 212, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 357, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 597, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 597, "end_frame": 759, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 894, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1023, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1191, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1191, "end_frame": 1482, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1482, "end_frame": 2160, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663631, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 388, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 646, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 646, "end_frame": 817, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 971, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1094, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1094, "end_frame": 1301, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1301, "end_frame": 1477, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1477, "end_frame": 2007, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663676, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 159, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 159, "end_frame": 295, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 464, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 464, "end_frame": 577, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 707, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 707, "end_frame": 848, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 1031, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1031, "end_frame": 1189, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1189, "end_frame": 1597, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663722, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 241, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 241, "end_frame": 348, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 581, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 581, "end_frame": 764, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 865, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 865, "end_frame": 997, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1146, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1146, "end_frame": 1240, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1240, "end_frame": 1721, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663740, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 163, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 163, "end_frame": 288, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 453, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 453, "end_frame": 652, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 829, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 829, "end_frame": 987, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1128, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1128, "end_frame": 1255, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1255, "end_frame": 1779, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663760, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 231, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 411, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 606, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 606, "end_frame": 784, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 912, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 912, "end_frame": 1036, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1189, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1189, "end_frame": 1332, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1730, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663781, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 209, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 209, "end_frame": 366, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 555, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 555, "end_frame": 711, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 819, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 819, "end_frame": 993, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 993, "end_frame": 1235, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1407, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1407, "end_frame": 1792, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663827, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 239, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 378, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 565, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 565, "end_frame": 766, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 873, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 873, "end_frame": 1019, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1019, "end_frame": 1121, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1121, "end_frame": 1286, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1286, "end_frame": 1681, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663852, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 421, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 567, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 567, "end_frame": 802, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 949, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1261, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1261, "end_frame": 1367, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1367, "end_frame": 1518, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1518, "end_frame": 1897, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663878, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 184, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 184, "end_frame": 340, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 527, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 527, "end_frame": 672, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 672, "end_frame": 821, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 821, "end_frame": 945, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 945, "end_frame": 1069, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1069, "end_frame": 1193, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1193, "end_frame": 1574, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663908, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 215, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 362, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 504, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 504, "end_frame": 742, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 742, "end_frame": 875, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 875, "end_frame": 1005, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1108, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1108, "end_frame": 1212, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1212, "end_frame": 1599, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 504, "end": 742, "description": "" } ] } }, { "episode_id": 663944, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 331, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 331, "end_frame": 509, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 509, "end_frame": 656, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 656, "end_frame": 809, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 901, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 901, "end_frame": 1022, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1132, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1132, "end_frame": 1279, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1279, "end_frame": 1621, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663963, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 193, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 193, "end_frame": 333, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 475, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 475, "end_frame": 613, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 711, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 711, "end_frame": 853, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 983, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 983, "end_frame": 1117, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1117, "end_frame": 1471, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663990, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 222, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 222, "end_frame": 367, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 511, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 511, "end_frame": 667, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 780, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 780, "end_frame": 926, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1071, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1071, "end_frame": 1193, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1193, "end_frame": 1593, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664013, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 224, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 224, "end_frame": 445, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 445, "end_frame": 555, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 555, "end_frame": 728, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 823, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 823, "end_frame": 995, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1113, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1231, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1231, "end_frame": 1591, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664031, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 271, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 271, "end_frame": 423, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 679, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 679, "end_frame": 820, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 945, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1072, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1072, "end_frame": 1182, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1182, "end_frame": 1309, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1309, "end_frame": 1669, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664048, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 219, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 219, "end_frame": 444, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 734, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 734, "end_frame": 891, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1030, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1170, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1170, "end_frame": 1281, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1281, "end_frame": 1412, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1412, "end_frame": 1827, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664060, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 206, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 206, "end_frame": 373, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 523, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 523, "end_frame": 659, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 755, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 755, "end_frame": 871, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 971, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1092, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1092, "end_frame": 1495, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664078, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 234, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 234, "end_frame": 386, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 602, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 602, "end_frame": 797, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 892, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 892, "end_frame": 1040, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1040, "end_frame": 1262, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1262, "end_frame": 1373, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1373, "end_frame": 1727, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664101, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 175, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 175, "end_frame": 321, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 590, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 590, "end_frame": 791, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 791, "end_frame": 938, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1060, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1060, "end_frame": 1233, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1233, "end_frame": 1364, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1364, "end_frame": 1717, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664119, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 199, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 199, "end_frame": 337, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 540, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 667, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 825, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 825, "end_frame": 926, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1093, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1093, "end_frame": 1226, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1226, "end_frame": 1684, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664138, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 231, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 385, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 564, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 564, "end_frame": 687, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 804, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 804, "end_frame": 927, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 927, "end_frame": 1064, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1064, "end_frame": 1210, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1210, "end_frame": 1636, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664153, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 383, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 651, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 651, "end_frame": 783, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 946, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1056, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1056, "end_frame": 1210, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1210, "end_frame": 1322, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1322, "end_frame": 1916, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664194, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 232, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 232, "end_frame": 384, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 712, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 712, "end_frame": 862, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 987, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 987, "end_frame": 1107, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1107, "end_frame": 1206, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1206, "end_frame": 1313, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1313, "end_frame": 1754, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664222, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 182, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 182, "end_frame": 294, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 511, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 511, "end_frame": 686, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 686, "end_frame": 842, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 842, "end_frame": 969, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 969, "end_frame": 1116, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1116, "end_frame": 1265, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1722, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664252, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 219, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 219, "end_frame": 406, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 406, "end_frame": 557, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 557, "end_frame": 670, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 790, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 790, "end_frame": 906, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1069, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1069, "end_frame": 1191, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1191, "end_frame": 1596, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664274, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 292, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 292, "end_frame": 425, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 666, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 666, "end_frame": 783, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 900, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1015, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1015, "end_frame": 1157, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1157, "end_frame": 1269, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1269, "end_frame": 1998, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664307, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 244, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 244, "end_frame": 394, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 620, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 620, "end_frame": 816, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 1044, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1186, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1186, "end_frame": 1351, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1351, "end_frame": 1721, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1721, "end_frame": 2021, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1351, "end": 1721, "description": "" } ] } }, { "episode_id": 664332, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 248, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 248, "end_frame": 431, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 617, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 617, "end_frame": 781, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 924, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 924, "end_frame": 1075, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1075, "end_frame": 1218, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1218, "end_frame": 1322, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1322, "end_frame": 1737, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664502, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 181, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 181, "end_frame": 334, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 505, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 505, "end_frame": 639, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 774, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 774, "end_frame": 924, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1044, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1235, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1235, "end_frame": 1631, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664533, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 303, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 303, "end_frame": 543, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 543, "end_frame": 731, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 731, "end_frame": 1022, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1169, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1169, "end_frame": 1496, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1496, "end_frame": 1660, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1660, "end_frame": 1805, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 2140, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664563, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 185, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 185, "end_frame": 360, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 553, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 553, "end_frame": 692, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 828, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 828, "end_frame": 971, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 971, "end_frame": 1094, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1094, "end_frame": 1224, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1224, "end_frame": 1672, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664588, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 365, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 593, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 593, "end_frame": 736, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 887, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 887, "end_frame": 992, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 992, "end_frame": 1148, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1148, "end_frame": 1346, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1346, "end_frame": 1961, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664635, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 400, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 603, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 603, "end_frame": 866, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1007, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1007, "end_frame": 1195, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1195, "end_frame": 1326, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1326, "end_frame": 1486, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1486, "end_frame": 2122, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664654, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 270, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 270, "end_frame": 506, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 506, "end_frame": 682, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 682, "end_frame": 816, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 922, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1112, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1226, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1334, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1641, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664681, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 417, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 645, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 645, "end_frame": 799, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 923, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1141, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1244, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1370, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1370, "end_frame": 1819, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664706, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 242, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 412, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 556, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 556, "end_frame": 770, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 934, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1067, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1067, "end_frame": 1174, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1174, "end_frame": 1336, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1336, "end_frame": 1871, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664733, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 436, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 592, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 592, "end_frame": 751, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 877, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1023, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1151, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1151, "end_frame": 1402, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1402, "end_frame": 1828, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664787, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 244, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 244, "end_frame": 444, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 444, "end_frame": 617, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 617, "end_frame": 808, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 901, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 901, "end_frame": 1065, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1065, "end_frame": 1212, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1212, "end_frame": 1423, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1423, "end_frame": 1879, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664812, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 210, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 380, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 516, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 516, "end_frame": 692, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 777, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 777, "end_frame": 913, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1029, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1029, "end_frame": 1153, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1153, "end_frame": 1466, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664836, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 256, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 448, "action_text": "Grab the large bag of potato chips on the table with the right arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 580, "action_text": "Place the grasped large bag of potato chips into red canvas tote bag.", "skill": "Place" }, { "start_frame": 580, "end_frame": 812, "action_text": "Grasp the pink soap on the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 931, "action_text": "Place the grasped pink soap into red canvas tote bag.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1062, "action_text": "Retrieve the bottled ad calcium milk from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 1172, "action_text": "Place the grasped bottled ad calcium milk into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1172, "end_frame": 1342, "action_text": "Grab the doubanjiang on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1342, "end_frame": 1822, "action_text": "Place the grasped doubanjiang into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662013, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 272, "end_frame": 431, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 594, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 594, "end_frame": 744, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 928, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1067, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1067, "end_frame": 1244, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1385, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1385, "end_frame": 1783, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662025, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 347, "end_frame": 465, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 465, "end_frame": 669, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 669, "end_frame": 867, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 1162, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1326, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1537, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1537, "end_frame": 1641, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1641, "end_frame": 1980, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662041, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 257, "end_frame": 425, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 591, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 591, "end_frame": 736, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 909, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1080, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1213, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1213, "end_frame": 1350, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1737, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662057, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 263, "end_frame": 403, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 583, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 583, "end_frame": 747, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 747, "end_frame": 938, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1061, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1061, "end_frame": 1221, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1221, "end_frame": 1359, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1359, "end_frame": 1728, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662068, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 300, "end_frame": 442, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 681, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 681, "end_frame": 815, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 996, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1150, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1150, "end_frame": 1288, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1430, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 1763, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662113, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 301, "end_frame": 462, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 703, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 703, "end_frame": 831, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 831, "end_frame": 1039, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1039, "end_frame": 1178, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1178, "end_frame": 1360, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1360, "end_frame": 1458, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1458, "end_frame": 1878, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662150, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 346, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 346, "end_frame": 461, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 461, "end_frame": 643, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 643, "end_frame": 790, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 1000, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1000, "end_frame": 1164, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1164, "end_frame": 1321, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1321, "end_frame": 1433, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1433, "end_frame": 1767, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662164, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 317, "end_frame": 454, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 454, "end_frame": 655, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 655, "end_frame": 802, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 989, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1182, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1182, "end_frame": 1284, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1284, "end_frame": 1459, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1459, "end_frame": 1879, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662196, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 311, "end_frame": 487, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 661, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 661, "end_frame": 795, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 1035, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1035, "end_frame": 1182, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1182, "end_frame": 1337, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1337, "end_frame": 1435, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1435, "end_frame": 1782, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662206, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 274, "end_frame": 396, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 581, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 581, "end_frame": 734, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 734, "end_frame": 918, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1056, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1056, "end_frame": 1196, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1311, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1311, "end_frame": 1657, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662226, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 411, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 600, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 600, "end_frame": 768, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 972, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1119, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1119, "end_frame": 1308, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1308, "end_frame": 1429, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1429, "end_frame": 1716, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662253, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 248, "end_frame": 352, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 523, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 523, "end_frame": 664, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 847, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 847, "end_frame": 987, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1152, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1272, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1272, "end_frame": 1660, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662267, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 299, "end_frame": 414, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 619, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 619, "end_frame": 734, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 734, "end_frame": 946, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1076, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1076, "end_frame": 1220, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1331, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1331, "end_frame": 1691, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665716, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 386, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 676, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 676, "end_frame": 812, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 1135, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1135, "end_frame": 1244, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1514, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1514, "end_frame": 1613, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1613, "end_frame": 2034, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666310, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 281, "end_frame": 422, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 422, "end_frame": 632, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 632, "end_frame": 804, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1110, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1242, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1242, "end_frame": 1393, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1393, "end_frame": 1536, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1536, "end_frame": 1960, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666325, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 268, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 268, "end_frame": 424, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 628, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 628, "end_frame": 768, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 952, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1099, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1285, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1285, "end_frame": 1441, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1441, "end_frame": 1661, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666356, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 308, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 308, "end_frame": 450, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 708, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 708, "end_frame": 860, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1039, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1039, "end_frame": 1162, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1162, "end_frame": 1308, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1308, "end_frame": 1464, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1464, "end_frame": 1789, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666372, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 304, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 304, "end_frame": 441, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 441, "end_frame": 665, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 665, "end_frame": 798, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 980, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 980, "end_frame": 1121, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1121, "end_frame": 1304, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1304, "end_frame": 1453, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1453, "end_frame": 1782, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666419, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 272, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 272, "end_frame": 389, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 557, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 557, "end_frame": 641, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 841, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 841, "end_frame": 987, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1128, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1128, "end_frame": 1246, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1246, "end_frame": 1496, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666432, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 237, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 237, "end_frame": 385, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 582, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 582, "end_frame": 712, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 873, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 873, "end_frame": 1114, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1114, "end_frame": 1258, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1258, "end_frame": 1364, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1364, "end_frame": 1741, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 873, "end": 1114, "description": "" } ] } }, { "episode_id": 666438, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 277, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 277, "end_frame": 410, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 665, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 665, "end_frame": 781, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 934, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1057, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1057, "end_frame": 1212, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1212, "end_frame": 1320, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1320, "end_frame": 1681, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1320, "end": 1681, "description": "" } ] } }, { "episode_id": 666454, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 414, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 596, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 596, "end_frame": 694, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 845, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 845, "end_frame": 978, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 978, "end_frame": 1153, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1153, "end_frame": 1257, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1257, "end_frame": 1516, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666464, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 212, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 399, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 595, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 595, "end_frame": 709, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 863, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 863, "end_frame": 987, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1099, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1203, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1203, "end_frame": 1484, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666477, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 238, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 390, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 562, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 562, "end_frame": 674, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 821, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 821, "end_frame": 952, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 952, "end_frame": 1081, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1177, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1177, "end_frame": 1426, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666490, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 388, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 550, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 550, "end_frame": 675, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 1045, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1045, "end_frame": 1219, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1219, "end_frame": 1386, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1386, "end_frame": 1481, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1481, "end_frame": 1801, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666501, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 361, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 361, "end_frame": 549, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 762, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 762, "end_frame": 871, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 1247, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1247, "end_frame": 1411, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1411, "end_frame": 1571, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1571, "end_frame": 1660, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1660, "end_frame": 1923, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 871, "end": 1247, "description": "" } ] } }, { "episode_id": 666512, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 239, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 239, "end_frame": 395, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 563, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 563, "end_frame": 674, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 855, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 855, "end_frame": 968, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 968, "end_frame": 1131, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1131, "end_frame": 1227, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1227, "end_frame": 1478, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666541, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 223, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 223, "end_frame": 394, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 563, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 563, "end_frame": 676, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 848, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 848, "end_frame": 971, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 971, "end_frame": 1129, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1129, "end_frame": 1230, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1230, "end_frame": 1539, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666551, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 256, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 256, "end_frame": 385, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 570, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 570, "end_frame": 679, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 863, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1017, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1135, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1135, "end_frame": 1217, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1217, "end_frame": 1470, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666564, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 251, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 381, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 529, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 529, "end_frame": 645, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 826, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 826, "end_frame": 944, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1092, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1092, "end_frame": 1192, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1192, "end_frame": 1435, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666575, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 216, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 216, "end_frame": 356, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 532, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 532, "end_frame": 649, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 815, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 815, "end_frame": 949, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 949, "end_frame": 1101, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1181, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1181, "end_frame": 1458, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666598, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 288, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 288, "end_frame": 412, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 555, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 555, "end_frame": 667, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 816, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 816, "end_frame": 965, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 965, "end_frame": 1121, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1121, "end_frame": 1214, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1214, "end_frame": 1462, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666623, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 228, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 228, "end_frame": 370, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 533, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 533, "end_frame": 631, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 782, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 782, "end_frame": 921, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1070, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1070, "end_frame": 1161, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1161, "end_frame": 1518, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666634, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 231, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 362, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 542, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 542, "end_frame": 643, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 643, "end_frame": 797, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 797, "end_frame": 928, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 928, "end_frame": 1082, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1167, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1167, "end_frame": 1426, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666639, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 262, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 262, "end_frame": 413, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 592, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 592, "end_frame": 729, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 729, "end_frame": 905, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1035, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1035, "end_frame": 1176, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1274, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1274, "end_frame": 1609, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666652, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 372, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 519, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 519, "end_frame": 641, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 803, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 803, "end_frame": 920, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 920, "end_frame": 1043, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1043, "end_frame": 1144, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1144, "end_frame": 1439, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666662, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 215, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 374, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 522, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 522, "end_frame": 639, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 815, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 815, "end_frame": 952, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 952, "end_frame": 1093, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1093, "end_frame": 1334, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1587, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1093, "end": 1334, "description": "" } ] } }, { "episode_id": 666677, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 217, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 217, "end_frame": 375, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 726, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 726, "end_frame": 840, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 840, "end_frame": 976, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 976, "end_frame": 1119, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1119, "end_frame": 1290, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1391, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1391, "end_frame": 1652, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690884, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 266, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 266, "end_frame": 436, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 781, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 781, "end_frame": 981, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 981, "end_frame": 1162, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1345, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1345, "end_frame": 1490, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1490, "end_frame": 1643, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1643, "end_frame": 1912, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690909, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 269, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 269, "end_frame": 480, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 626, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 626, "end_frame": 925, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1174, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1174, "end_frame": 1399, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1399, "end_frame": 1614, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1614, "end_frame": 1866, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1866, "end_frame": 2117, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690927, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 298, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 298, "end_frame": 495, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 495, "end_frame": 755, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 755, "end_frame": 970, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1153, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1153, "end_frame": 1372, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1372, "end_frame": 1601, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1601, "end_frame": 1739, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1739, "end_frame": 1969, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690942, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 243, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 378, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 580, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 580, "end_frame": 775, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 997, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1229, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1229, "end_frame": 1426, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1426, "end_frame": 1641, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1641, "end_frame": 1953, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690964, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 287, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 287, "end_frame": 449, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 615, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 758, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 1010, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1010, "end_frame": 1201, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1347, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1347, "end_frame": 1499, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1499, "end_frame": 1740, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690981, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 273, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 450, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 673, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 673, "end_frame": 911, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 911, "end_frame": 1109, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1109, "end_frame": 1307, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1307, "end_frame": 1433, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1433, "end_frame": 1580, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1580, "end_frame": 1832, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 690997, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 327, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 327, "end_frame": 463, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 463, "end_frame": 591, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 591, "end_frame": 779, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 779, "end_frame": 973, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1199, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1199, "end_frame": 1355, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1355, "end_frame": 1532, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1532, "end_frame": 1880, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691026, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 289, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 289, "end_frame": 437, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 719, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 719, "end_frame": 866, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1070, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1070, "end_frame": 1301, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1301, "end_frame": 1463, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1463, "end_frame": 1612, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1612, "end_frame": 2020, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691048, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 299, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 299, "end_frame": 487, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 683, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 683, "end_frame": 901, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1152, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1276, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1276, "end_frame": 1430, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1430, "end_frame": 1926, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1926, "end_frame": 2129, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1430, "end": 1926, "description": "" } ] } }, { "episode_id": 691055, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 274, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 274, "end_frame": 470, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 470, "end_frame": 675, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 675, "end_frame": 857, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 857, "end_frame": 1081, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1293, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1293, "end_frame": 1582, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1582, "end_frame": 1705, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1705, "end_frame": 1953, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691064, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 321, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 321, "end_frame": 472, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 472, "end_frame": 670, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 670, "end_frame": 876, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 1057, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1057, "end_frame": 1236, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1236, "end_frame": 1378, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1378, "end_frame": 1566, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1566, "end_frame": 1805, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691083, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 288, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 288, "end_frame": 434, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 625, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 625, "end_frame": 824, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1061, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1061, "end_frame": 1202, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1202, "end_frame": 1407, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1407, "end_frame": 1579, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1579, "end_frame": 1924, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691097, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 293, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 293, "end_frame": 429, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 574, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 574, "end_frame": 872, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1067, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1067, "end_frame": 1300, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1300, "end_frame": 1471, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1471, "end_frame": 1612, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1612, "end_frame": 1873, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691114, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 337, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 337, "end_frame": 539, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 843, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 843, "end_frame": 1025, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1025, "end_frame": 1291, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1291, "end_frame": 1464, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1464, "end_frame": 1646, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1646, "end_frame": 1813, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1813, "end_frame": 2079, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691122, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 298, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 298, "end_frame": 533, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 533, "end_frame": 687, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 687, "end_frame": 882, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1055, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1265, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1446, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1446, "end_frame": 1662, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1662, "end_frame": 1952, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691135, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 304, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 304, "end_frame": 472, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 472, "end_frame": 607, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 607, "end_frame": 895, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1053, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1416, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1416, "end_frame": 1584, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1584, "end_frame": 1733, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1733, "end_frame": 2027, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 1053, "end": 1416, "description": "" } ] } }, { "episode_id": 691148, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 316, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 316, "end_frame": 442, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 691, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 691, "end_frame": 855, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 855, "end_frame": 1059, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1263, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1263, "end_frame": 1427, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1427, "end_frame": 1612, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1612, "end_frame": 1962, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691167, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 299, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 299, "end_frame": 443, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 443, "end_frame": 651, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 651, "end_frame": 905, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 905, "end_frame": 1200, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1200, "end_frame": 1368, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1368, "end_frame": 1647, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1647, "end_frame": 1791, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1791, "end_frame": 2128, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691194, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 260, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 260, "end_frame": 472, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 472, "end_frame": 649, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 649, "end_frame": 889, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 889, "end_frame": 1066, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1066, "end_frame": 1216, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1216, "end_frame": 1392, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1392, "end_frame": 1561, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1561, "end_frame": 1887, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691220, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 286, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 286, "end_frame": 467, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 656, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 656, "end_frame": 907, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 907, "end_frame": 1118, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1251, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1251, "end_frame": 1426, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1426, "end_frame": 1549, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1549, "end_frame": 1798, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691237, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 266, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 266, "end_frame": 411, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 589, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 589, "end_frame": 774, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 774, "end_frame": 917, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1066, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1220, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1378, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1626, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691253, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 254, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 254, "end_frame": 415, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 415, "end_frame": 663, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 663, "end_frame": 970, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1124, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1298, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1298, "end_frame": 1468, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1468, "end_frame": 1593, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1593, "end_frame": 1849, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691266, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 247, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 247, "end_frame": 551, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 678, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 678, "end_frame": 849, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 849, "end_frame": 1044, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1236, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1236, "end_frame": 1386, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1386, "end_frame": 1486, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1486, "end_frame": 1731, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 247, "end": 551, "description": "" } ] } }, { "episode_id": 691275, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 253, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 253, "end_frame": 434, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 644, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 644, "end_frame": 830, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 830, "end_frame": 1021, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1021, "end_frame": 1162, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1162, "end_frame": 1312, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1312, "end_frame": 1520, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1520, "end_frame": 1749, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691296, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 261, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 261, "end_frame": 397, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 663, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 663, "end_frame": 884, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1079, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1079, "end_frame": 1244, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1367, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1367, "end_frame": 1534, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1534, "end_frame": 1930, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691313, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 720, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 849, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1120, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1120, "end_frame": 1296, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1296, "end_frame": 1445, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1445, "end_frame": 1578, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1578, "end_frame": 1804, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1804, "end_frame": 2070, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 240, "end": 720, "description": "" } ] } }, { "episode_id": 691328, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 291, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 291, "end_frame": 424, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 615, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 802, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1036, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1173, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1173, "end_frame": 1335, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1335, "end_frame": 1504, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1504, "end_frame": 1769, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691343, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 436, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 608, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 608, "end_frame": 1004, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1004, "end_frame": 1138, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1138, "end_frame": 1252, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1252, "end_frame": 1392, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1392, "end_frame": 1564, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1564, "end_frame": 1899, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 608, "end": 1004, "description": "" } ] } }, { "episode_id": 691358, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 271, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 271, "end_frame": 420, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 615, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 830, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 830, "end_frame": 1031, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1031, "end_frame": 1224, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1224, "end_frame": 1395, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1395, "end_frame": 1537, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1537, "end_frame": 1825, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691492, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 248, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 248, "end_frame": 412, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 606, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 606, "end_frame": 793, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 962, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1132, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1132, "end_frame": 1292, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1494, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1494, "end_frame": 1755, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691505, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 243, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 378, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 554, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 554, "end_frame": 707, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 935, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1168, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1168, "end_frame": 1315, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1315, "end_frame": 1538, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1538, "end_frame": 1800, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691538, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 231, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 591, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 735, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 735, "end_frame": 929, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 929, "end_frame": 1131, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1131, "end_frame": 1298, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1298, "end_frame": 1495, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1495, "end_frame": 1629, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1629, "end_frame": 1879, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691566, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 205, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 205, "end_frame": 349, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 483, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 483, "end_frame": 633, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 796, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 796, "end_frame": 934, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 934, "end_frame": 1065, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1065, "end_frame": 1226, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1226, "end_frame": 1488, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691635, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 234, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 234, "end_frame": 335, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 492, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 492, "end_frame": 640, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 868, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1034, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1034, "end_frame": 1216, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1444, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1444, "end_frame": 1741, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691656, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 238, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 445, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 445, "end_frame": 649, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 649, "end_frame": 818, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1016, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1016, "end_frame": 1241, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1241, "end_frame": 1459, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1459, "end_frame": 1675, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1675, "end_frame": 1946, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691667, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 262, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 262, "end_frame": 450, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 758, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 758, "end_frame": 914, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1065, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1065, "end_frame": 1241, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1241, "end_frame": 1373, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1373, "end_frame": 1561, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1561, "end_frame": 1847, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691681, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 221, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 221, "end_frame": 381, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 585, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 585, "end_frame": 770, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 975, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1123, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1315, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1315, "end_frame": 1416, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1416, "end_frame": 1664, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691691, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 233, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 233, "end_frame": 429, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 709, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 709, "end_frame": 926, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1228, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1228, "end_frame": 1350, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1486, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1486, "end_frame": 1656, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1656, "end_frame": 1935, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691710, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 253, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 253, "end_frame": 442, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 659, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 659, "end_frame": 935, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 935, "end_frame": 1215, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1215, "end_frame": 1388, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1388, "end_frame": 1567, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1567, "end_frame": 1799, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1799, "end_frame": 2097, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691733, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 230, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 453, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 649, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 649, "end_frame": 864, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 1056, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1056, "end_frame": 1195, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1195, "end_frame": 1364, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1364, "end_frame": 1515, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1515, "end_frame": 1868, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691746, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 254, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 254, "end_frame": 412, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 593, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 593, "end_frame": 759, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1085, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1085, "end_frame": 1215, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1215, "end_frame": 1395, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1395, "end_frame": 1522, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1522, "end_frame": 1860, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691758, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 192, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 192, "end_frame": 332, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 540, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 540, "end_frame": 743, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 1015, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1015, "end_frame": 1173, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1173, "end_frame": 1349, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1468, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1468, "end_frame": 1774, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691768, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 242, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 242, "end_frame": 432, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 630, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 630, "end_frame": 824, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 1070, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1070, "end_frame": 1212, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1212, "end_frame": 1357, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1357, "end_frame": 1518, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1518, "end_frame": 1805, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691783, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 215, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 385, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 571, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 571, "end_frame": 762, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 945, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1097, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1097, "end_frame": 1241, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1241, "end_frame": 1376, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1376, "end_frame": 1629, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691797, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 295, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 295, "end_frame": 433, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 632, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 632, "end_frame": 768, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 961, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 961, "end_frame": 1086, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1086, "end_frame": 1268, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1268, "end_frame": 1484, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1484, "end_frame": 1832, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691810, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 255, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 255, "end_frame": 415, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 415, "end_frame": 599, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 599, "end_frame": 763, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 763, "end_frame": 973, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1217, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1217, "end_frame": 1452, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1452, "end_frame": 1756, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1756, "end_frame": 2048, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691818, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 273, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 273, "end_frame": 423, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 615, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 615, "end_frame": 800, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 988, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1139, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1139, "end_frame": 1305, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1305, "end_frame": 1488, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1488, "end_frame": 1747, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691837, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 381, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 588, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 588, "end_frame": 776, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 776, "end_frame": 1000, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1000, "end_frame": 1167, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1167, "end_frame": 1316, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1316, "end_frame": 1504, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1504, "end_frame": 1782, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691850, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 215, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 215, "end_frame": 367, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 575, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 575, "end_frame": 839, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1048, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1048, "end_frame": 1265, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1448, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1448, "end_frame": 1569, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1569, "end_frame": 1890, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691864, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 402, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 550, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 550, "end_frame": 717, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 920, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1112, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1220, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1344, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1344, "end_frame": 1576, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691875, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 218, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 218, "end_frame": 368, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 498, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 498, "end_frame": 659, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 865, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 865, "end_frame": 1066, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1263, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1263, "end_frame": 1370, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1370, "end_frame": 1585, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691887, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 230, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 597, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 839, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 839, "end_frame": 1062, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 1233, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1233, "end_frame": 1414, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1414, "end_frame": 1576, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1576, "end_frame": 1729, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1729, "end_frame": 2112, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691894, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 211, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 211, "end_frame": 375, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 535, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 535, "end_frame": 703, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 856, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1002, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1002, "end_frame": 1229, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1326, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1573, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691907, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 224, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 224, "end_frame": 403, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 579, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 579, "end_frame": 794, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 794, "end_frame": 975, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1135, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1135, "end_frame": 1278, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1278, "end_frame": 1410, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1410, "end_frame": 1637, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691921, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 395, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 649, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 649, "end_frame": 825, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 981, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1135, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1135, "end_frame": 1247, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1247, "end_frame": 1416, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1416, "end_frame": 1649, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691937, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 231, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 231, "end_frame": 389, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 512, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 512, "end_frame": 677, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 867, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1008, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1199, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1377, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1377, "end_frame": 1640, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691960, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 247, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 247, "end_frame": 408, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 534, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 534, "end_frame": 703, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 858, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 858, "end_frame": 1002, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1002, "end_frame": 1113, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1232, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1460, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691974, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 209, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 209, "end_frame": 352, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 478, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 478, "end_frame": 637, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 860, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 860, "end_frame": 1031, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1031, "end_frame": 1164, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1164, "end_frame": 1326, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1593, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691985, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 264, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 264, "end_frame": 388, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 518, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 518, "end_frame": 673, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 836, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 836, "end_frame": 984, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1177, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1394, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1394, "end_frame": 1668, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691999, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 240, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 240, "end_frame": 511, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 645, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 645, "end_frame": 874, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1017, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1182, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1182, "end_frame": 1314, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1314, "end_frame": 1471, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1471, "end_frame": 1755, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692003, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 249, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 249, "end_frame": 367, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 567, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 567, "end_frame": 701, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 701, "end_frame": 893, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 893, "end_frame": 1015, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1015, "end_frame": 1150, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1150, "end_frame": 1290, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1290, "end_frame": 1541, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692021, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 237, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 237, "end_frame": 335, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 525, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 525, "end_frame": 700, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 865, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 865, "end_frame": 1097, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1097, "end_frame": 1255, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1255, "end_frame": 1388, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1388, "end_frame": 1634, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692033, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 225, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 225, "end_frame": 334, "action_text": "Grab the packaged ham sausage on the table with the right arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 469, "action_text": "Place the grasped packaged ham sausage into red canvas tote bag.", "skill": "Place" }, { "start_frame": 469, "end_frame": 596, "action_text": "Grasp the hair conditioner on the table with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 761, "action_text": "Place the grasped hair conditioner into red canvas tote bag.", "skill": "Place" }, { "start_frame": 761, "end_frame": 913, "action_text": "Retrieve the sunflower seeds from the table with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1056, "action_text": "Place the grasped sunflower seeds into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1056, "end_frame": 1159, "action_text": "Grab the sweet bean sauce on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1159, "end_frame": 1355, "action_text": "Place the grasped sweet bean sauce into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676449, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 229, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 229, "end_frame": 365, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 480, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 480, "end_frame": 608, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 732, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 732, "end_frame": 876, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 991, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1096, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1096, "end_frame": 1292, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676463, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 210, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 210, "end_frame": 356, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 479, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 479, "end_frame": 625, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 745, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 745, "end_frame": 870, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 988, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1122, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1122, "end_frame": 1312, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676473, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 159, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 159, "end_frame": 267, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 364, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 364, "end_frame": 517, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 639, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 639, "end_frame": 856, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 856, "end_frame": 987, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 987, "end_frame": 1091, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1091, "end_frame": 1286, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 639, "end": 856, "description": "" } ] } }, { "episode_id": 676500, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 174, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 174, "end_frame": 319, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 422, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 422, "end_frame": 556, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 674, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 674, "end_frame": 804, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 914, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1032, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1032, "end_frame": 1226, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676527, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 163, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 163, "end_frame": 307, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 412, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 412, "end_frame": 553, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 672, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 672, "end_frame": 781, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 879, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 879, "end_frame": 991, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 991, "end_frame": 1160, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676551, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 213, "end_frame": 335, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 462, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 462, "end_frame": 595, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 725, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 725, "end_frame": 850, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 850, "end_frame": 965, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 965, "end_frame": 1076, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1076, "end_frame": 1225, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676569, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 238, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 238, "end_frame": 358, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 480, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 480, "end_frame": 628, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 628, "end_frame": 743, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 743, "end_frame": 864, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 964, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 964, "end_frame": 1073, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1073, "end_frame": 1253, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676588, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 159, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 159, "end_frame": 298, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 396, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 396, "end_frame": 578, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 704, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 704, "end_frame": 812, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 926, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 926, "end_frame": 1052, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1240, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676617, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 181, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 181, "end_frame": 347, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 490, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 490, "end_frame": 650, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 757, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 757, "end_frame": 891, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 978, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 978, "end_frame": 1113, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1113, "end_frame": 1277, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676644, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 2, "end_frame": 177, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 177, "end_frame": 296, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 403, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 403, "end_frame": 575, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 704, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 704, "end_frame": 837, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 837, "end_frame": 952, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1082, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1082, "end_frame": 1252, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676674, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 236, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 236, "end_frame": 389, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 520, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 520, "end_frame": 678, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 817, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 817, "end_frame": 950, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1079, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1079, "end_frame": 1210, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1210, "end_frame": 1438, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676689, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 230, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 230, "end_frame": 370, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 480, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 480, "end_frame": 623, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 759, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 759, "end_frame": 881, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 881, "end_frame": 995, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 995, "end_frame": 1129, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1129, "end_frame": 1369, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676711, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 243, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 243, "end_frame": 388, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 501, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 501, "end_frame": 681, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 804, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 804, "end_frame": 930, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1043, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1043, "end_frame": 1239, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1239, "end_frame": 1453, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676726, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 220, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 351, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 496, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 496, "end_frame": 661, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 786, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 786, "end_frame": 923, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 923, "end_frame": 1045, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1045, "end_frame": 1183, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1183, "end_frame": 1396, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676741, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 251, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 251, "end_frame": 379, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 499, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 499, "end_frame": 663, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 787, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 787, "end_frame": 926, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1046, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1046, "end_frame": 1207, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1207, "end_frame": 1429, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676755, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 200, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 200, "end_frame": 357, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 490, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 490, "end_frame": 786, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 786, "end_frame": 907, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1036, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1171, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1310, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1310, "end_frame": 1520, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 490, "end": 786, "description": "" } ] } }, { "episode_id": 676786, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 208, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 208, "end_frame": 346, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 486, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 486, "end_frame": 642, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 815, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 815, "end_frame": 975, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 975, "end_frame": 1094, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1094, "end_frame": 1248, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1478, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676803, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 246, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 246, "end_frame": 401, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 480, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 480, "end_frame": 645, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 799, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 799, "end_frame": 978, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 978, "end_frame": 1099, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1242, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1242, "end_frame": 1438, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676822, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 218, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 218, "end_frame": 345, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 461, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 461, "end_frame": 626, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 733, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 733, "end_frame": 878, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 878, "end_frame": 985, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 985, "end_frame": 1120, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1120, "end_frame": 1321, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676850, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 212, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 212, "end_frame": 365, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 501, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 501, "end_frame": 664, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 814, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 814, "end_frame": 986, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 986, "end_frame": 1095, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1095, "end_frame": 1274, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1274, "end_frame": 1505, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676866, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 198, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 198, "end_frame": 337, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 477, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 477, "end_frame": 632, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 754, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 754, "end_frame": 901, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1055, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1208, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1208, "end_frame": 1406, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676883, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 220, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 220, "end_frame": 341, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 477, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 477, "end_frame": 649, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 783, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 783, "end_frame": 912, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1033, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1033, "end_frame": 1177, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1177, "end_frame": 1363, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676899, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 226, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 226, "end_frame": 341, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 478, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 478, "end_frame": 631, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 780, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 780, "end_frame": 904, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1061, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1061, "end_frame": 1189, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1189, "end_frame": 1373, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676920, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 191, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 191, "end_frame": 335, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 442, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 442, "end_frame": 611, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 745, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 745, "end_frame": 884, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1001, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1001, "end_frame": 1140, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1331, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676958, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 188, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 188, "end_frame": 343, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 463, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 463, "end_frame": 650, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 794, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 794, "end_frame": 933, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1033, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1033, "end_frame": 1161, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1161, "end_frame": 1363, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676985, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 186, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 186, "end_frame": 302, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 412, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 412, "end_frame": 556, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 678, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 678, "end_frame": 833, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 940, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1086, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1086, "end_frame": 1258, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677005, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 191, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 191, "end_frame": 321, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 428, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 428, "end_frame": 592, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 702, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 702, "end_frame": 830, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 830, "end_frame": 990, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 990, "end_frame": 1111, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1308, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677029, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 189, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 189, "end_frame": 374, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 506, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 506, "end_frame": 654, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 783, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 783, "end_frame": 902, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1021, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1021, "end_frame": 1155, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1155, "end_frame": 1364, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677052, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 169, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 169, "end_frame": 311, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 448, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 448, "end_frame": 587, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 587, "end_frame": 737, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 737, "end_frame": 868, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 938, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1080, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1241, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677086, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 180, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 180, "end_frame": 285, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 405, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 405, "end_frame": 554, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 715, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 715, "end_frame": 857, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 857, "end_frame": 967, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1115, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1115, "end_frame": 1288, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677102, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 186, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 186, "end_frame": 309, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 440, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 440, "end_frame": 590, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 725, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 725, "end_frame": 825, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 941, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 941, "end_frame": 1070, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1070, "end_frame": 1289, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677125, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 197, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 197, "end_frame": 323, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 441, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 441, "end_frame": 590, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 751, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 751, "end_frame": 871, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 995, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 995, "end_frame": 1138, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1138, "end_frame": 1350, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677146, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 161, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 161, "end_frame": 288, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 402, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 402, "end_frame": 567, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 675, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 675, "end_frame": 813, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 914, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1052, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1259, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677163, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 184, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 184, "end_frame": 321, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 447, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 447, "end_frame": 617, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 722, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 722, "end_frame": 868, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 976, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 976, "end_frame": 1093, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1093, "end_frame": 1282, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677181, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 192, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 192, "end_frame": 337, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 467, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 467, "end_frame": 622, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 750, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 750, "end_frame": 866, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1002, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1002, "end_frame": 1143, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1143, "end_frame": 1343, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677197, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 186, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 186, "end_frame": 358, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 476, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 476, "end_frame": 639, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 779, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 779, "end_frame": 909, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 909, "end_frame": 1002, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1002, "end_frame": 1151, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1151, "end_frame": 1366, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677212, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 185, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 185, "end_frame": 297, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 441, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 441, "end_frame": 585, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 766, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 766, "end_frame": 898, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1022, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1022, "end_frame": 1144, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1144, "end_frame": 1431, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677266, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 188, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 188, "end_frame": 336, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 461, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 461, "end_frame": 620, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 740, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 740, "end_frame": 878, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 878, "end_frame": 969, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 969, "end_frame": 1132, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1132, "end_frame": 1298, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677280, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 181, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 181, "end_frame": 287, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 439, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 439, "end_frame": 559, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 691, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 691, "end_frame": 800, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 891, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 891, "end_frame": 1028, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1028, "end_frame": 1187, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677299, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 188, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 188, "end_frame": 312, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 428, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 428, "end_frame": 566, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 742, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 742, "end_frame": 859, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 859, "end_frame": 972, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1098, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1301, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677315, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 166, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 166, "end_frame": 293, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 405, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 405, "end_frame": 535, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 652, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 652, "end_frame": 768, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 904, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 904, "end_frame": 1111, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1323, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677338, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 166, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 166, "end_frame": 307, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 421, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 421, "end_frame": 549, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 698, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 698, "end_frame": 813, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 919, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 919, "end_frame": 1095, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1095, "end_frame": 1266, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677351, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 182, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 182, "end_frame": 329, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 430, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 430, "end_frame": 754, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 754, "end_frame": 887, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1008, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 1008, "end_frame": 1141, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1285, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1285, "end_frame": 1471, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 430, "end": 754, "description": "" } ] } }, { "episode_id": 677359, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 199, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 199, "end_frame": 310, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 411, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 411, "end_frame": 577, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 691, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 691, "end_frame": 812, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 918, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1083, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1083, "end_frame": 1283, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677380, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 176, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 176, "end_frame": 311, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 429, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 429, "end_frame": 559, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 703, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 703, "end_frame": 839, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 985, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 985, "end_frame": 1132, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1132, "end_frame": 1315, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677390, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 179, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 179, "end_frame": 342, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 468, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 468, "end_frame": 619, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 619, "end_frame": 745, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 745, "end_frame": 860, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 953, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1118, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1304, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677413, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 192, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 192, "end_frame": 298, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 431, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 431, "end_frame": 562, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 562, "end_frame": 681, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 681, "end_frame": 794, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 794, "end_frame": 916, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1054, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1054, "end_frame": 1338, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677454, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 172, "end_frame": 316, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 459, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 459, "end_frame": 574, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 689, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 689, "end_frame": 800, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 935, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1075, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1075, "end_frame": 1346, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677469, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 160, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 160, "end_frame": 280, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 417, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 417, "end_frame": 545, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 545, "end_frame": 724, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 724, "end_frame": 853, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 972, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1141, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1141, "end_frame": 1398, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680509, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 178, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 178, "end_frame": 288, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 417, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 417, "end_frame": 535, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 634, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 634, "end_frame": 744, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 889, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 889, "end_frame": 971, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 971, "end_frame": 1180, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680513, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 147, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 147, "end_frame": 256, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 388, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 388, "end_frame": 490, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 613, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 613, "end_frame": 692, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 805, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 805, "end_frame": 892, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1107, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680518, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 143, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 143, "end_frame": 234, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 381, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 381, "end_frame": 652, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 779, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 779, "end_frame": 876, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 990, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 990, "end_frame": 1071, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1071, "end_frame": 1269, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [ { "start": 381, "end": 652, "description": "" } ] } }, { "episode_id": 680520, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 158, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 158, "end_frame": 281, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 416, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 416, "end_frame": 529, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 689, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 689, "end_frame": 822, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 822, "end_frame": 918, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1036, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1214, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680529, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 176, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 176, "end_frame": 307, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 445, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 445, "end_frame": 571, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 719, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 719, "end_frame": 799, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 915, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 915, "end_frame": 1020, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1219, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680536, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 135, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 135, "end_frame": 254, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 393, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 393, "end_frame": 475, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 608, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 608, "end_frame": 703, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 791, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 791, "end_frame": 871, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 1114, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680544, "task_id": 372, "task_name": "Packing in the supermarket", "init_scene_text": "1. The robot is positioned in front of the cash register, where four different types of items and a soft woven bag are placed;\n2. Alter the positions and orientations of the items and the soft woven bag on the cash register.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 196, "action_text": "Grasp the left arm with red canvas tote bag.", "skill": "Grasp" }, { "start_frame": 196, "end_frame": 305, "action_text": "Grab the dishcloth on the table with the right arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 416, "action_text": "Place the grasped dishcloth into red canvas tote bag.", "skill": "Place" }, { "start_frame": 416, "end_frame": 527, "action_text": "Grasp the plain toast on the table with the right arm.", "skill": "Pick" }, { "start_frame": 527, "end_frame": 623, "action_text": "Place the grasped plain toast into red canvas tote bag.", "skill": "Place" }, { "start_frame": 623, "end_frame": 718, "action_text": "Retrieve the cotton swab from the table with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 814, "action_text": "Place the grasped cotton swab into red canvas tote bag.", "skill": "Place" }, { "start_frame": 814, "end_frame": 918, "action_text": "Grab the small bottle of shampoo on the table with the right arm.", "skill": "Pick" }, { "start_frame": 918, "end_frame": 1107, "action_text": "Place the grasped small bottle of shampoo into red canvas tote bag with the right arm.", "skill": "Place" } ], "key_frame": [] } } ]