diff --git a/annotations/train100/episode12.json b/annotations/train100/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..73b75d0e28679e3b4384cdddf4cd1c134a658b9a --- /dev/null +++ b/annotations/train100/episode12.json @@ -0,0 +1,56 @@ +{ + "episode": 12, + "source_episode": 12, + "split": "train", + "frame_count": 215, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 66, + "end": 111, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 111, + "end": 115, + "stage_id": 17, + "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open." + }, + { + "start": 115, + "end": 215, + "stage_id": 29, + "stage_key": "left_insert_place_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "insert_place_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open." + } + ] +} diff --git a/annotations/train100/episode17.json b/annotations/train100/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..815967032c8edad1c631286b077d56308cac6891 --- /dev/null +++ b/annotations/train100/episode17.json @@ -0,0 +1,56 @@ +{ + "episode": 17, + "source_episode": 17, + "split": "train", + "frame_count": 206, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 66, + "end": 111, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 111, + "end": 115, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 115, + "end": 206, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode2.json b/annotations/train100/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..c838601109a54f813e469f9e29c2d19178324b1c --- /dev/null +++ b/annotations/train100/episode2.json @@ -0,0 +1,56 @@ +{ + "episode": 2, + "source_episode": 2, + "split": "train", + "frame_count": 212, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 66, + "end": 114, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 114, + "end": 118, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 118, + "end": 212, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode21.json b/annotations/train100/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..ab08bab403bd0e86c0b7a72cd88b0e3291637b56 --- /dev/null +++ b/annotations/train100/episode21.json @@ -0,0 +1,56 @@ +{ + "episode": 21, + "source_episode": 21, + "split": "train", + "frame_count": 217, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 69, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 69, + "end": 117, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 117, + "end": 121, + "stage_id": 17, + "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open." + }, + { + "start": 121, + "end": 217, + "stage_id": 29, + "stage_key": "left_insert_place_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "insert_place_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open." + } + ] +} diff --git a/annotations/train100/episode22.json b/annotations/train100/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..5068a8a6c24761c891ffb1a3f0df5cfd93c7cc45 --- /dev/null +++ b/annotations/train100/episode22.json @@ -0,0 +1,56 @@ +{ + "episode": 22, + "source_episode": 22, + "split": "train", + "frame_count": 209, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 66, + "end": 111, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 111, + "end": 115, + "stage_id": 17, + "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open." + }, + { + "start": 115, + "end": 209, + "stage_id": 29, + "stage_key": "left_insert_place_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "insert_place_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open." + } + ] +} diff --git a/annotations/train100/episode24.json b/annotations/train100/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..b4ef153d8ef34d78524984e52f8dd1173f26880e --- /dev/null +++ b/annotations/train100/episode24.json @@ -0,0 +1,56 @@ +{ + "episode": 24, + "source_episode": 24, + "split": "train", + "frame_count": 207, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 69, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 69, + "end": 114, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 114, + "end": 118, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 118, + "end": 207, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode25.json b/annotations/train100/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9b2d8d52cd1b1b12e7e3c5df4ae70f5df478e6 --- /dev/null +++ b/annotations/train100/episode25.json @@ -0,0 +1,56 @@ +{ + "episode": 25, + "source_episode": 25, + "split": "train", + "frame_count": 205, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 66, + "end": 111, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 111, + "end": 115, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 115, + "end": 205, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode28.json b/annotations/train100/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9b0aaa650b7c0c720d770dd55593871d205bab --- /dev/null +++ b/annotations/train100/episode28.json @@ -0,0 +1,56 @@ +{ + "episode": 28, + "source_episode": 28, + "split": "train", + "frame_count": 206, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 69, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 69, + "end": 111, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 111, + "end": 115, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 115, + "end": 206, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode29.json b/annotations/train100/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..8e988627715c3d8d6724b7fd8fc7902ce6bcde71 --- /dev/null +++ b/annotations/train100/episode29.json @@ -0,0 +1,67 @@ +{ + "episode": 29, + "source_episode": 29, + "split": "train", + "frame_count": 207, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 10, + "stage_id": 6, + "stage_key": "left_reach_grasp_object__right_wait", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "wait" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: wait." + }, + { + "start": 10, + "end": 66, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 66, + "end": 120, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 120, + "end": 124, + "stage_id": 17, + "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open." + }, + { + "start": 124, + "end": 207, + "stage_id": 29, + "stage_key": "left_insert_place_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "insert_place_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open." + } + ] +} diff --git a/annotations/train100/episode30.json b/annotations/train100/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3fcc139045b10ad4bba40794be066db40d9d1d --- /dev/null +++ b/annotations/train100/episode30.json @@ -0,0 +1,56 @@ +{ + "episode": 30, + "source_episode": 30, + "split": "train", + "frame_count": 209, + "object_arm": "right", + "drawer_arm": "left", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 19, + "stage_key": "left_reach_open_drawer__right_reach_grasp_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "reach_grasp_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object." + }, + { + "start": 66, + "end": 114, + "stage_id": 20, + "stage_key": "left_reach_open_drawer__right_wait_hold_object", + "arm_semantic_keys": { + "left": "reach_open_drawer", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object." + }, + { + "start": 114, + "end": 118, + "stage_id": 32, + "stage_key": "left_wait_hold_drawer_open__right_wait_hold_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "wait_hold_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object." + }, + { + "start": 118, + "end": 209, + "stage_id": 34, + "stage_key": "left_wait_hold_drawer_open__right_insert_place_object", + "arm_semantic_keys": { + "left": "wait_hold_drawer_open", + "right": "insert_place_object" + }, + "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object." + } + ] +} diff --git a/annotations/train100/episode31.json b/annotations/train100/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..4b92c7834166e6c9e12b680d9983181f7a085bcb --- /dev/null +++ b/annotations/train100/episode31.json @@ -0,0 +1,56 @@ +{ + "episode": 31, + "source_episode": 31, + "split": "train", + "frame_count": 211, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 66, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 66, + "end": 108, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 108, + "end": 112, + "stage_id": 17, + "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open." + }, + { + "start": 112, + "end": 211, + "stage_id": 29, + "stage_key": "left_insert_place_object__right_wait_hold_drawer_open", + "arm_semantic_keys": { + "left": "insert_place_object", + "right": "wait_hold_drawer_open" + }, + "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open." + } + ] +} diff --git a/annotations/train100/episode35.json b/annotations/train100/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a2f0a3e3db0fec7a9fa8aac30e1080dfe0d3d6 --- /dev/null +++ b/annotations/train100/episode35.json @@ -0,0 +1,56 @@ +{ + "episode": 35, + "source_episode": 35, + "split": "train", + "frame_count": 210, + "object_arm": "left", + "drawer_arm": "right", + "relative_delay_target": "physical", + "rewritten_relative_delay": null, + "segments": [ + { + "start": 0, + "end": 69, + "stage_id": 9, + "stage_key": "left_reach_grasp_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "reach_grasp_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer." + }, + { + "start": 69, + "end": 111, + "stage_id": 15, + "stage_key": "left_wait_hold_object__right_reach_open_drawer", + "arm_semantic_keys": { + "left": "wait_hold_object", + "right": "reach_open_drawer" + }, + "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer." + }, + { + "start": 111, + "end": 115, + "stage_id": 17, + "stage_key": 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