diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/README.md b/Table-scale/Tactile/ACE-Data-Tactile-0/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d30fecf7d5690e058dc1e93aa6284737283e1cf1 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/README.md @@ -0,0 +1,5 @@ +# ACE-Data LeRobot v3 + +Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`. + +The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`. diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/data/chunk-000/file-000.parquet b/Table-scale/Tactile/ACE-Data-Tactile-0/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..89b4c717237a7639024a7632548b63f66a47d841 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0eacae7817d7c4d4f2d6efb5c331b290f9c26b45ec0087ed6035765fe0f6506 +size 3733348 diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/meta/info.json b/Table-scale/Tactile/ACE-Data-Tactile-0/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..196e6143a2faf5943ebacfff8d11ed8da3f96cd5 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/meta/info.json @@ -0,0 +1,313 @@ +{ + "codebase_version": "v3.0", + 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[[911.8623048561075, 0.0, 963.8554896120903], [0.0, 913.9495581889702, 538.9014338402925], [0.0, 0.0, 1.0]] +distortions = [0.017119701009203653, -0.037506966117510615, -0.0012405493092434376, 0.00041060437791663274, 0.026357324534988597] +rotation = [0.01644198146995899, 1.0057006961047203, -2.92445626757468] +translation = [0.4352835275156556, 0.319952824872785, 0.5940690486058431] + +[metadata] +adjusted = false +error = 0.0 diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000000.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000000.txt new file mode 100644 index 0000000000000000000000000000000000000000..335caf0c68ea30da9b5895b756557ac018180865 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000000.txt @@ -0,0 +1,22 @@ +Task: +Clean a white tray and transfer snacks from a blue basket onto it. + +Subtasks: +1. [0.000-26.000] open the right door of the top cabinet +2. [26.000-36.000] take the blue basket from the top cabinet +3. [36.000-41.000] place the blue basket on the counter +4. [41.000-54.000] close the doors of the top cabinet +5. [54.000-81.000] wipe the white tray using a squeegee +6. [81.000-96.000] empty the white tray into the sink and place it on the counter +7. [96.000-106.000] move an orange snack from the blue basket onto the white tray +8. [106.000-120.000] move another orange snack from the blue basket onto the white tray +9. [120.000-132.000] move a green snack from the blue basket onto the white tray +10. [132.000-142.000] move another green snack from the blue basket onto the white tray +11. [142.000-155.000] move a blue snack from the blue basket onto the white tray +12. [155.000-169.000] move a pink snack from the blue basket onto the white tray +13. [169.000-183.000] move a yellow snack from the blue basket onto the white tray +14. [183.000-197.000] move an orange snack from the blue basket onto the white tray +15. [197.000-215.000] move another orange snack from the blue basket onto the white tray +16. [215.000-227.000] move a purple can from the blue basket onto the white tray +17. [227.000-242.000] open the doors of the top cabinet +18. [242.000-247.962] place the blue basket into the top cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000001.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000001.txt new file mode 100644 index 0000000000000000000000000000000000000000..a85da2f5252d5bd29e7b393a90ace1158ee22874 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000001.txt @@ -0,0 +1,14 @@ +Task: +Transfer snacks from a blue basket onto a white tray and store the empty basket in the cabinet. + +Subtasks: +1. [0.000-12.000] move the empty blue basket from the cabinet onto the counter +2. [12.000-25.000] move the empty blue basket from the counter into the cabinet +3. [25.000-45.000] open the cabinet doors +4. [45.000-65.000] move the empty blue basket from the cabinet onto the counter +5. [65.000-78.000] close the cabinet doors +6. [78.000-92.000] move the white tray onto the counter +7. [92.000-124.000] adjust the white tray on the counter +8. [124.000-358.000] move the snacks from the blue basket onto the white tray until the blue basket is empty +9. [358.000-376.000] open the cabinet doors +10. [376.000-389.019] move the empty blue basket from the counter into the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000002.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000002.txt new file mode 100644 index 0000000000000000000000000000000000000000..65ca7888d80c845ffd1a63b58c24e2b834d42e7d --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000002.txt @@ -0,0 +1,17 @@ +Task: +Take a full blue basket from the cabinet, wipe a white tray, and transfer the items from the basket onto the tray. + +Subtasks: +1. [0.000-4.000] open the right cabinet door +2. [4.000-9.000] take the empty blue basket from the cabinet and place the empty blue basket onto the counter +3. [9.000-15.000] reposition the white tray on the counter +4. [15.000-24.000] pick up the empty blue basket from the counter and place the empty blue basket into the cabinet +5. [24.000-37.000] close the right cabinet door +6. [37.000-47.000] open the right cabinet door +7. [47.000-56.000] open the left cabinet door +8. [56.000-65.000] take the full blue basket from the cabinet and place the full blue basket onto the counter +9. [65.000-74.000] close the cabinet doors +10. [74.000-90.000] pick up the yellow sponge from the sink +11. [90.000-141.000] wipe the white tray using the yellow sponge +12. [141.000-241.000] move the items from the full blue basket onto the white tray until the full blue basket is empty +13. [241.000-248.012] open the right cabinet door diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000003.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000003.txt new file mode 100644 index 0000000000000000000000000000000000000000..e368aac59ceca7c3921076402b9efe1bdaf15548 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000003.txt @@ -0,0 +1,19 @@ +Task: +Clean a white tray and neatly arrange snacks on it after temporarily storing them in a basket. + +Subtasks: +1. [0.000-7.000] open the right cabinet door +2. [7.000-11.000] move the blue basket from the right cabinet onto the counter +3. [11.000-15.000] pour the snacks from the white tray into the blue basket +4. [15.000-19.000] place the white tray onto the counter +5. [19.000-27.000] place the blue basket into the right cabinet +6. [27.000-32.000] close the cabinet doors +7. [32.000-39.000] open the right cabinet door +8. [39.000-54.000] move the blue basket from the right cabinet onto the counter +9. [54.000-66.000] open the left cabinet door +10. [66.000-78.000] rearrange the snacks in the blue basket +11. [78.000-82.000] pick up the yellow sponge from the counter +12. [82.000-110.000] wipe the white tray using the yellow sponge +13. [110.000-115.000] place the yellow sponge onto the counter +14. [115.000-232.000] move the snacks from the blue basket onto the white tray until the blue basket is empty +15. [232.000-235.962] close the right cabinet door diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000004.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000004.txt new file mode 100644 index 0000000000000000000000000000000000000000..a99f6c674d0a7acb69498615dfe7946804723a74 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000004.txt @@ -0,0 +1,13 @@ +Task: +Empty a basket of snacks onto the table and return the empty basket to the cabinet. + +Subtasks: +1. [0.000-4.000] open the right door of the top cabinet +2. [4.000-15.000] take out the blue basket from the top cabinet and place it on the table +3. [15.000-24.000] close the right door of the top cabinet +4. [24.000-106.000] move the white tray on the table +5. [106.000-313.000] take out the snacks from the blue basket and place them on the table until the basket is empty +6. [313.000-325.000] open the right door and the left door of the top cabinet +7. [325.000-332.000] place the empty blue basket into the top cabinet +8. [332.000-339.000] close the left door and the right door of the top cabinet +9. [339.000-364.000] take off the gloves and put them on the table diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000005.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000005.txt new file mode 100644 index 0000000000000000000000000000000000000000..a11bd8060bc86b7cf34fa93b9ce625fe7150cb83 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000005.txt @@ -0,0 +1,25 @@ +Task: +Take a basket of snacks from the cabinet, transfer the snacks onto a tray, and return the empty basket to the cabinet. + +Subtasks: +1. [0.000-5.400] open the right door of the cabinet +2. [5.400-13.200] open the left door of the cabinet +3. [13.200-24.800] take the basket from the cabinet and place the basket on the counter +4. [24.800-31.200] close the right door of the cabinet +5. [31.200-39.000] close the left door of the cabinet +6. [39.000-102.100] pick up the tray and place the tray on the counter +7. [102.100-120.600] pick up a snack from the basket and place the snack on the tray +8. [120.600-136.800] pick up a snack from the basket and place the snack on the tray +9. [136.800-157.300] pick up a snack from the basket and place the snack on the tray +10. [157.300-171.600] pick up a snack from the basket and place the snack on the tray +11. [171.600-180.500] pick up a snack from the basket and place the snack on the tray +12. [180.500-190.500] pick up a snack from the basket and place the snack on the tray +13. [190.500-205.700] pick up a snack from the basket and place the snack on the tray +14. [205.700-222.500] pick up a snack from the basket and place the snack on the tray +15. [222.500-239.300] pick up a snack from the basket and place the snack on the tray +16. [239.300-254.300] pick up a snack from the basket and place the snack on the tray +17. [254.300-267.700] pick up a snack from the basket and place the snack on the tray +18. [267.700-274.100] open the right door of the cabinet +19. [274.100-286.300] pick up the empty basket from the counter and place the empty basket inside the cabinet +20. [286.300-305.100] pick up the rag from the sink and place the rag on the counter +21. [305.100-311.000] close the right door of the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000006.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000006.txt new file mode 100644 index 0000000000000000000000000000000000000000..2125c5ca40bc4b06e7c4e2718d40c594a28f7a22 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000006.txt @@ -0,0 +1,26 @@ +Task: +Empty a basket of snacks onto a board and return the empty basket to the cabinet. + +Subtasks: +1. [0.000-2.800] open the right door of the cabinet +2. [2.800-6.000] open the left door of the cabinet +3. [6.000-11.200] take the blue basket from the cabinet +4. [11.200-16.200] place the blue basket onto the counter +5. [16.200-21.500] close the left door of the cabinet +6. [21.500-27.600] close the right door of the cabinet +7. [27.600-36.600] move the white board from the sink area onto the counter +8. [36.600-81.400] place the blue basket onto the white board +9. [81.400-91.900] take a yellow snack package from the blue basket and place it onto the white board +10. [91.900-99.100] take a purple snack package from the blue basket and place it onto the white board +11. [99.100-107.300] take a green snack package from the blue basket and place it onto the white board +12. [107.300-113.300] take a second green snack package from the blue basket and place it onto the white board +13. [113.300-121.000] take an orange snack package from the blue basket and place it onto the white board +14. [121.000-129.100] take a second orange snack package from the blue basket and place it onto the white board +15. [129.100-136.800] take a third orange snack package from the blue basket and place it onto the white board +16. [136.800-143.700] take a blue snack package from the blue basket and place it onto the white board +17. [143.700-150.200] take a pink snack package from the blue basket and place it onto the white board +18. [150.200-159.000] take a fourth orange snack package from the blue basket and place it onto the white board until the basket is empty +19. [159.000-167.100] open the left and right doors of the cabinet +20. [167.100-176.500] pick up the empty blue basket and place it into the cabinet +21. [176.500-183.100] close the left door of the cabinet +22. [183.100-197.000] close the right door of the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000007.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000007.txt new file mode 100644 index 0000000000000000000000000000000000000000..740eed086bae792ac80da0e66b9ce3c9f3156065 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000007.txt @@ -0,0 +1,14 @@ +Task: +Transfer packages from a blue basket in a cabinet to a white tray on the counter. + +Subtasks: +1. [0.000-10.000] open the right cabinet door +2. [10.000-23.000] take the blue basket from the cabinet and place it onto the counter +3. [23.000-33.000] close the cabinet doors +4. [33.000-81.000] pick up the white tray and place it next to the blue basket onto the counter +5. [81.000-248.000] move the packages from the blue basket onto the white tray until the blue basket is empty +6. [248.000-268.000] pick up the small clear packet from the blue basket +7. [268.000-276.000] open the right cabinet door +8. [276.000-286.000] place the empty blue basket into the cabinet +9. [286.000-292.000] close the right cabinet door +10. [292.000-316.000] pick up the black cloth from the counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000008.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000008.txt new file mode 100644 index 0000000000000000000000000000000000000000..37158940af94f1e4b4bb924392f07dc44f259309 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000008.txt @@ -0,0 +1,21 @@ +Task: +Transfer snacks from a blue basket stored in a cabinet onto a white tray on the counter. + +Subtasks: +1. [0.000-5.000] open the right cabinet door +2. [5.000-20.000] take the blue basket from the cabinet +3. [20.000-30.000] close the right cabinet door while holding the blue basket +4. [30.000-88.000] place the blue basket onto the counter and align the white tray +5. [88.000-98.000] pick up an orange snack packet from the blue basket and place the orange snack packet onto the white tray +6. [98.000-107.000] pick up a blue snack packet from the blue basket and place the blue snack packet onto the white tray +7. [107.000-113.000] pick up a yellow snack packet from the blue basket and place the yellow snack packet onto the white tray +8. [113.000-120.000] pick up a pink snack packet from the blue basket and place the pink snack packet onto the white tray +9. [120.000-126.000] pick up a green snack packet from the blue basket and place the green snack packet onto the white tray +10. [126.000-134.000] pick up a light green snack packet from the blue basket and place the light green snack packet onto the white tray +11. [134.000-143.000] align the snack packets on the white tray +12. [143.000-150.000] pick up a second orange snack packet from the blue basket and place the second orange snack packet onto the white tray +13. [150.000-160.000] pick up a second yellow snack packet from the blue basket and place the second yellow snack packet onto the white tray +14. [160.000-171.000] pick up a second green snack packet from the blue basket and place the second green snack packet onto the white tray +15. [171.000-184.000] pick up an orange triangular snack packet from the blue basket and place the orange triangular snack packet onto the white tray +16. [184.000-202.000] pick up a purple cylindrical container from the blue basket and place the purple cylindrical container onto the white tray +17. [202.000-222.000] pick up a round snack item from the blue basket and place the round snack item onto the white tray diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000009.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000009.txt new file mode 100644 index 0000000000000000000000000000000000000000..549c14dc6af369515afb19a321af48390f2d54d9 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000009.txt @@ -0,0 +1,20 @@ +Task: +Organize items from a cabinet basket by sorting the packaged snacks onto a tray and the cans onto the counter, then return the empty basket and take the tray. + +Subtasks: +1. [0.000-6.000] open the cabinet door +2. [6.000-20.000] take the blue basket from the cabinet and place the blue basket on the counter +3. [20.000-28.000] close the cabinet door +4. [28.000-38.000] adjust the position of the blue basket on the counter +5. [38.000-74.000] pick up the white tray and place the white tray on the counter next to the blue basket +6. [74.000-81.000] move a purple snack from the blue basket onto the white tray +7. [81.000-88.000] move a yellow snack from the blue basket onto the white tray +8. [88.000-97.000] move a pink snack from the blue basket onto the white tray +9. [97.000-104.000] move an orange snack from the blue basket onto the white tray +10. [104.000-115.000] move a green snack from the blue basket onto the white tray +11. [115.000-123.000] move a purple can from the blue basket onto the counter +12. [123.000-128.000] move an orange can from the blue basket onto the counter +13. [128.000-138.000] move a second orange can from the blue basket onto the counter +14. [138.000-143.000] pick up the empty blue basket and open the cabinet door +15. [143.000-148.000] place the empty blue basket into the cabinet and close the cabinet door +16. [148.000-157.000] pick up the white tray from the counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000010.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000010.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc15902f28ea81b10b6a570e2f0b7d58695937d4 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000010.txt @@ -0,0 +1,4 @@ +Task: +episode-000010.mp4 + +Subtasks: diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000011.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000011.txt new file mode 100644 index 0000000000000000000000000000000000000000..2445693a71509569fc0ef1150b60d6a4540ee086 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000011.txt @@ -0,0 +1,13 @@ +Task: +Organize snacks from a basket onto a tray, put the empty basket away, and wipe the table. + +Subtasks: +1. [0.000-9.000] open the cabinet +2. [9.000-28.000] move the blue basket from the cabinet onto the tray +3. [28.000-41.000] close the cabinet +4. [41.000-189.000] move the snacks from the blue basket onto the tray until the basket is empty +5. [189.000-196.000] open the cabinet +6. [196.000-206.000] move the blue basket from the tray into the cabinet +7. [206.000-216.000] close the cabinet +8. [216.000-242.000] wipe the table with a rag +9. [242.000-250.025] open the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000012.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000012.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d6b7e1223f700f4a19f4402f608453b439dc99e --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000012.txt @@ -0,0 +1,14 @@ +Task: +Organize snack packets from a blue basket onto a white tray and clean the surrounding counter space. + +Subtasks: +1. [0.000-6.000] open the cabinet door +2. [6.000-15.000] take the blue basket from the cabinet and place the blue basket on the counter +3. [15.000-23.000] close the cabinet door +4. [23.000-70.000] wipe the white tray using the black cloth +5. [70.000-76.000] move the blue basket next to the white tray +6. [76.000-197.000] transfer the packets from the blue basket onto the white tray until the blue basket is empty +7. [197.000-202.000] open the cabinet door +8. [202.000-211.000] place the empty blue basket into the cabinet +9. [211.000-215.000] close the cabinet door +10. [215.000-241.999] wipe the counter next to the white tray using the black cloth diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000013.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000013.txt new file mode 100644 index 0000000000000000000000000000000000000000..189ec62126f3e0cdcd17e035c48c0a878684f3ff --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000013.txt @@ -0,0 +1,35 @@ +Task: +Arrange snacks from a basket onto a tray and clean the table. + +Subtasks: +1. [0.000-6.000] open the right door of the top cabinet +2. [6.000-15.000] take out the blue basket from the cabinet +3. [15.000-20.000] place the blue basket on the table +4. [20.000-26.000] close the right door of the top cabinet +5. [26.000-81.000] pick up the tray and place it on the table +6. [81.000-88.000] pick up the green package from the blue basket +7. [88.000-92.000] place the green package on the tray +8. [92.000-100.000] pick up the orange package from the blue basket +9. [100.000-104.000] place the orange package on the tray +10. [104.000-112.000] pick up the orange package from the blue basket +11. [112.000-118.000] place the orange package on the tray +12. [118.000-131.000] pick up the yellow package from the blue basket +13. [131.000-136.000] place the yellow package on the tray +14. [136.000-147.000] pick up the blue package from the blue basket +15. [147.000-155.000] place the blue package on the tray +16. [155.000-167.000] pick up the purple box from the blue basket +17. [167.000-171.000] place the purple box on the tray +18. [171.000-184.000] pick up the pink package from the blue basket +19. [184.000-188.000] place the pink package on the tray +20. [188.000-199.000] pick up the yellow package from the blue basket +21. [199.000-204.000] place the yellow package on the tray +22. [204.000-216.000] pick up the orange package from the blue basket +23. [216.000-222.000] place the orange package on the tray +24. [222.000-229.000] pick up the green package from the blue basket +25. [229.000-234.000] place the green package on the tray +26. [234.000-240.000] open the right door of the top cabinet +27. [240.000-245.000] pick up the blue basket +28. [245.000-249.000] put the blue basket into the cabinet +29. [249.000-253.000] close the right door of the top cabinet +30. [253.000-259.000] pick up the rag +31. [259.000-283.987] wipe the table with the rag diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000014.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000014.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c36c8a037233c03dac78cb412ea2b8d4a4dbe64 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000014.txt @@ -0,0 +1,21 @@ +Task: +Transfer snacks from a blue basket into a white tray and store the empty basket back in the cabinet. + +Subtasks: +1. [0.000-9.200] open the cabinet +2. [9.200-20.500] move the blue basket from the cabinet to the table +3. [20.500-27.100] close the cabinet +4. [27.100-87.500] move the white tray on the table +5. [87.500-98.800] move an orange snack from the blue basket to the white tray +6. [98.800-108.900] move a green snack from the blue basket to the white tray +7. [108.900-120.300] move a yellow snack from the blue basket to the white tray +8. [120.300-138.300] move an orange snack from the blue basket to the white tray +9. [138.300-150.800] move a pink snack from the blue basket to the white tray +10. [150.800-171.700] move an orange snack from the blue basket to the white tray +11. [171.700-182.800] move a blue snack from the blue basket to the white tray +12. [182.800-202.200] move a green snack from the blue basket to the white tray +13. [202.200-216.700] move a yellow snack from the blue basket to the white tray +14. [216.700-225.800] open the cabinet +15. [225.800-237.900] move the blue basket from the table to the cabinet +16. [237.900-246.500] close the cabinet +17. [246.500-282.984] wipe the table using the hand diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000015.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000015.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1a4012d8c2c608b1c8bd517df691c45c2690e1a --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000015.txt @@ -0,0 +1,20 @@ +Task: +Empty a basket of packages onto a tray and return the empty basket to the cabinet. + +Subtasks: +1. [0.000-15.000] open the cabinet door +2. [15.000-23.000] take the blue basket out of the cabinet +3. [23.000-36.000] place the blue basket on the counter +4. [36.000-77.000] lift the white tray to wipe the counter and place the white tray back down +5. [77.000-95.000] take an orange package from the blue basket and place the orange package on the white tray +6. [95.000-109.000] take another orange package from the blue basket and place the orange package on the white tray +7. [109.000-124.000] take a green package from the blue basket and place the green package on the white tray +8. [124.000-142.000] take a yellow package from the blue basket and place the yellow package on the white tray +9. [142.000-157.000] take a blue package from the blue basket and place the blue package on the white tray +10. [157.000-171.000] take a third orange package from the blue basket and place the orange package on the white tray +11. [171.000-183.000] take a pink package from the blue basket and place the pink package on the white tray +12. [183.000-202.000] take a purple package from the blue basket and place the purple package on the white tray +13. [202.000-216.000] take another green package from the blue basket and place the green package on the white tray +14. [216.000-227.000] take a round object from the blue basket and place the round object on the white tray +15. [227.000-232.000] open the cabinet door +16. [232.000-250.978] place the empty blue basket into the cabinet and close the cabinet door diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000016.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000016.txt new file mode 100644 index 0000000000000000000000000000000000000000..5354b168ef0b408863e0ec96ce9d67feb67da590 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000016.txt @@ -0,0 +1,4 @@ +Task: +episode-000016.mp4 + +Subtasks: diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000017.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000017.txt new file mode 100644 index 0000000000000000000000000000000000000000..9baca860f13f29f366ded3cc37663d4139be1b5a --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000017.txt @@ -0,0 +1,4 @@ +Task: +episode-000017.mp4 + +Subtasks: diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000018.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000018.txt new file mode 100644 index 0000000000000000000000000000000000000000..45cf1561c5cc4d89405b76927ae4dd883c30d5c8 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000018.txt @@ -0,0 +1,18 @@ +Task: +Fill the containers with items from the plastic bags stored in the cabinet. + +Subtasks: +1. [0.000-6.000] open the cabinet +2. [6.000-23.000] remove the lids from the containers +3. [23.000-30.000] take the first plastic bag out of the cabinet +4. [30.000-70.000] open the first plastic bag +5. [70.000-187.000] pour the items from the first plastic bag into two containers until the containers are filled +6. [187.000-193.000] place the first plastic bag into the cabinet +7. [193.000-206.000] put the lids onto the two filled containers +8. [206.000-212.000] take the second plastic bag out of the cabinet +9. [212.000-221.000] open the second plastic bag +10. [221.000-307.000] pour the items from the second plastic bag into the remaining two containers until the containers are filled +11. [307.000-313.000] close the second plastic bag +12. [313.000-320.000] place the second plastic bag into the cabinet +13. [320.000-343.000] put the lids onto the remaining two filled containers +14. [343.000-355.000] close the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000019.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000019.txt new file mode 100644 index 0000000000000000000000000000000000000000..a07a04a100b0cad729a7d48519864cb3988a2966 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000019.txt @@ -0,0 +1,18 @@ +Task: +Transfer powder and potatoes from plastic bags into glass jars. + +Subtasks: +1. [0.000-5.000] open the cabinet +2. [5.000-15.000] take the bag of powder out of the cabinet +3. [15.000-24.000] pick up the measuring cup from the counter +4. [24.000-45.000] scoop the powder from the bag into the measuring cup +5. [45.000-75.000] pour the powder from the measuring cup into the jar +6. [75.000-87.000] pick up the bag of powder +7. [87.000-179.000] pour the remaining powder from the bag into the jar until the bag is empty +8. [179.000-219.000] place the empty bag of powder back into the cabinet +9. [219.000-231.000] close the jar with the lid +10. [231.000-251.000] take the bag of potatoes out of the cabinet +11. [251.000-322.000] pour the potatoes from the bag into the jar until the bag is empty +12. [322.000-347.000] place the empty bag of potatoes back into the cabinet +13. [347.000-355.000] close the jar with the lid +14. [355.000-365.000] close the cabinet diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000020.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000020.txt new file mode 100644 index 0000000000000000000000000000000000000000..d2183f9a13c7ababaad599de9b12629d0a1213d6 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000020.txt @@ -0,0 +1,38 @@ +Task: +Place tea bags and lemon slices into cups. + +Subtasks: +1. [0.000-13.000] open the cabinet doors +2. [13.000-23.000] take the first plastic bag from the cabinet +3. [23.000-30.000] open the first plastic bag +4. [30.000-48.000] take a tea bag from the first plastic bag +5. [48.000-54.000] remove the lid from the top-left cup +6. [54.000-64.000] place the tea bag into the top-left cup +7. [64.000-88.000] put the lid on the top-left cup +8. [88.000-94.000] remove the lid from the bottom-left cup +9. [94.000-104.000] take a tea bag from the first plastic bag +10. [104.000-112.000] place the tea bag into the bottom-left cup +11. [112.000-118.000] put the lid on the bottom-left cup +12. [118.000-126.000] remove the lid from the bottom-right cup +13. [126.000-140.000] take a tea bag from the first plastic bag +14. [140.000-146.000] place the tea bag into the bottom-right cup +15. [146.000-154.000] put the lid on the bottom-right cup +16. [154.000-160.000] remove the lid from the top-right cup +17. [160.000-168.000] take a tea bag from the first plastic bag +18. [168.000-174.000] place the tea bag into the top-right cup +19. [174.000-180.000] put the lid on the top-right cup +20. [180.000-264.000] seal the first plastic bag +21. [264.000-272.000] place the first plastic bag into the cabinet +22. [272.000-282.000] take the second plastic bag from the cabinet +23. [282.000-302.000] open the second plastic bag +24. [302.000-310.000] take a lemon slice from the second plastic bag +25. [310.000-316.000] remove the lid from the bottom-left cup +26. [316.000-322.000] place the lemon slice into the bottom-left cup +27. [322.000-326.000] put the lid on the bottom-left cup +28. [326.000-332.000] remove the lid from the top-left cup +29. [332.000-340.000] take a lemon slice from the second plastic bag +30. [340.000-346.000] place the lemon slice into the top-left cup +31. [346.000-350.000] put the lid on the top-left cup +32. [350.000-378.000] seal the second plastic bag +33. [378.000-386.000] place the second plastic bag into the cabinet +34. [386.000-399.000] close the cabinet doors diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000021.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000021.txt new file mode 100644 index 0000000000000000000000000000000000000000..535b871fc630f06f59901a7499ded35c83c3547a --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000021.txt @@ -0,0 +1,28 @@ +Task: +Transfer kiwis and potatoes from plastic bags into containers. + +Subtasks: +1. [0.000-15.000] open the cabinet door +2. [15.000-23.000] take the bag of kiwis out of the cabinet +3. [23.000-40.000] open the bag of kiwis +4. [40.000-81.000] take a kiwi out of the bag +5. [81.000-95.000] put the kiwi into the container +6. [95.000-118.000] take a second kiwi out of the bag +7. [118.000-138.000] put the second kiwi into the container +8. [138.000-177.000] take a third kiwi out of the bag +9. [177.000-193.000] put the third kiwi into the container +10. [193.000-221.000] take a fourth kiwi out of the bag +11. [221.000-235.000] put the fourth kiwi into the container +12. [235.000-261.000] take a fifth kiwi out of the bag +13. [261.000-276.000] put the fifth kiwi into the container +14. [276.000-303.000] place the bag of kiwis into the cabinet +15. [303.000-313.000] take the bag of potatoes out of the cabinet +16. [313.000-327.000] open the bag of potatoes +17. [327.000-346.000] take a potato out of the bag +18. [346.000-356.000] put the potato into the container +19. [356.000-381.000] take a second potato out of the bag +20. [381.000-393.000] put the second potato into the container +21. [393.000-400.000] take a third potato out of the bag +22. [400.000-406.000] put the third potato into the container +23. [406.000-421.000] place the bag of potatoes into the cabinet +24. [421.000-435.000] close the cabinet door diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000022.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000022.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a6e3c88074c82f082944a93f769dcf2d83e8974 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000022.txt @@ -0,0 +1,30 @@ +Task: +Transfer mushrooms and a kiwi from their respective ziplock bags into a divided container. + +Subtasks: +1. [0.000-5.000] remove the lid from the bottom-right compartment of the container +2. [5.000-11.000] open the cabinet door +3. [11.000-18.000] take a bag of mushrooms out of the cabinet +4. [18.000-51.000] open the bag of mushrooms +5. [51.000-74.000] take a mushroom out of the bag +6. [74.000-91.000] place the mushroom into the bottom-right compartment of the container +7. [91.000-114.000] take a second mushroom out of the bag +8. [114.000-127.000] place the second mushroom into the bottom-right compartment of the container +9. [127.000-154.000] take a third mushroom out of the bag +10. [154.000-166.000] place the third mushroom into the bottom-right compartment of the container +11. [166.000-176.000] take a fourth mushroom out of the bag +12. [176.000-183.000] place the fourth mushroom into the bottom-right compartment of the container +13. [183.000-196.000] take a fifth mushroom out of the bag +14. [196.000-206.000] place the fifth mushroom into the bottom-right compartment of the container +15. [206.000-218.000] close the bag of mushrooms +16. [218.000-221.000] place the bag of mushrooms into the cabinet +17. [221.000-242.000] place the lid onto the bottom-right compartment of the container +18. [242.000-256.000] take a bag of kiwis out of the cabinet +19. [256.000-276.000] open the bag of kiwis +20. [276.000-294.000] take a kiwi out of the bag +21. [294.000-300.000] remove the lid from the bottom-left compartment of the container +22. [300.000-306.000] place the kiwi into the bottom-left compartment of the container +23. [306.000-314.000] place the lid onto the bottom-left compartment of the container +24. [314.000-336.000] close the bag of kiwis +25. [336.000-344.000] place the bag of kiwis into the cabinet +26. [344.000-359.000] close the cabinet door diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000023.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000023.txt new file mode 100644 index 0000000000000000000000000000000000000000..d3589189679f77543e2c9c9c388fb91bed6b0b20 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000023.txt @@ -0,0 +1,13 @@ +Task: +Pour cat food from a bag into a container and move the container to another location on the counter. + +Subtasks: +1. [0.000-10.000] move the container on the counter +2. [10.000-21.000] pick up the bag of cat food and move the bag of cat food above the container +3. [21.000-52.000] pour cat food from the bag of cat food into the container +4. [52.000-61.000] place the bag of cat food on the counter +5. [61.000-73.000] pick up the bag of cat food and move the bag of cat food above the container +6. [73.000-95.000] pour cat food from the bag of cat food into the container +7. [95.000-99.000] place the bag of cat food on the counter +8. [99.000-104.000] close the container +9. [104.000-117.000] move the container to the other side of the sink diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000024.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000024.txt new file mode 100644 index 0000000000000000000000000000000000000000..a465c54209cf58f9d599a971e6b0ba33c5d0d8d6 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000024.txt @@ -0,0 +1,13 @@ +Task: +Fill a pet food box with pet food from a bag. + +Subtasks: +1. [0.000-6.500] move the pet food box from the left to the right +2. [6.500-19.500] open the lid of the pet food box +3. [19.500-27.500] pick up the bag of pet food +4. [27.500-74.500] pour pet food from the bag into the pet food box +5. [74.500-81.500] place the bag of pet food on the table and adjust the pet food box +6. [81.500-105.000] pick up the bag of pet food and pour pet food from the bag into the pet food box until the box is filled +7. [105.000-108.500] place the bag of pet food on the table +8. [108.500-114.500] close the lid of the pet food box +9. [114.500-129.000] move the pet food box from the right to the left diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000025.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000025.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a1cb91090ab386a27ee2fb547c327c7339d4748 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000025.txt @@ -0,0 +1,22 @@ +Task: +Transfer eggs from a plastic bag into several egg cartons and organize the cartons on the counter. + +Subtasks: +1. [0.000-6.000] open the cabinet +2. [6.000-15.000] move the plastic bag from the cabinet onto the counter +3. [15.000-20.000] close the cabinet +4. [20.000-26.000] move the white egg carton to the center of the counter +5. [26.000-91.000] move eggs from the plastic bag into the first brown egg carton until the carton is filled +6. [91.000-105.000] close the first brown egg carton +7. [105.000-118.000] move the first brown egg carton to the side of the counter +8. [118.000-124.000] move the second brown egg carton to the center of the counter +9. [124.000-169.000] move eggs from the plastic bag into the second brown egg carton +10. [169.000-214.000] rearrange the egg cartons on the counter +11. [214.000-252.000] move eggs from the plastic bag into the second brown egg carton until the carton is filled +12. [252.000-262.000] close the second brown egg carton +13. [262.000-268.000] move the second brown egg carton to the side of the counter +14. [268.000-299.000] close the empty third brown egg carton +15. [299.000-304.000] move the empty third brown egg carton to the side of the counter +16. [304.000-318.000] move an egg from the plastic bag into the white egg carton +17. [318.000-325.000] close the white egg carton +18. [325.000-333.950] move the white egg carton to the side of the counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000026.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000026.txt new file mode 100644 index 0000000000000000000000000000000000000000..cad9c9b0db4773f4cf39165c475a6a4807efe007 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000026.txt @@ -0,0 +1,20 @@ +Task: +Transfer eggs from a plastic bag into egg boxes. + +Subtasks: +1. [0.000-6.000] open the right cabinet door +2. [6.000-18.000] take out a plastic bag with eggs from the cabinet and place it on the counter +3. [18.000-24.000] close the right cabinet door +4. [24.000-32.000] pick up an empty egg box +5. [32.000-88.000] put eggs from the plastic bag into the egg box until the egg box is full +6. [88.000-103.000] close the egg box and place it on the counter +7. [103.000-112.000] pick up a second empty egg box +8. [112.000-156.000] put eggs from the plastic bag into the second egg box until the egg box is full +9. [156.000-174.000] close the second egg box and place it on the counter +10. [174.000-184.000] pick up a third empty egg box +11. [184.000-220.000] put eggs from the plastic bag into the third egg box until the egg box is full +12. [220.000-234.000] close the third egg box and place it on the counter +13. [234.000-248.000] pick up a fourth empty egg box +14. [248.000-256.000] put eggs from the plastic bag into the fourth egg box until the plastic bag is empty +15. [256.000-268.000] close the fourth egg box and place it on the counter +16. [268.000-281.000] pick up a fifth empty egg box and place it on the counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000027.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000027.txt new file mode 100644 index 0000000000000000000000000000000000000000..18ba1762367ccc901d4f26a1be19d435940ae05c --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000027.txt @@ -0,0 +1,20 @@ +Task: +Transfer eggs from a plastic bag into several egg boxes. + +Subtasks: +1. [0.000-10.000] take a plastic bag containing eggs from the cabinet +2. [10.000-26.000] place the plastic bag on the table and open the plastic bag +3. [26.000-34.000] pick up a white egg box and open the white egg box +4. [34.000-88.000] move eggs from the plastic bag into the white egg box +5. [88.000-98.000] close the white egg box and place the white egg box on the table +6. [98.000-114.000] pick up a brown egg box and open the brown egg box +7. [114.000-148.000] move eggs from the plastic bag into the brown egg box +8. [148.000-158.000] close the brown egg box and place the brown egg box on the table +9. [158.000-174.000] pick up another brown egg box and open the brown egg box +10. [174.000-214.000] move eggs from the plastic bag into the brown egg box +11. [214.000-232.000] close the brown egg box and place the brown egg box on the table +12. [232.000-240.000] pick up another brown egg box and open the brown egg box +13. [240.000-252.000] move eggs from the plastic bag into the brown egg box +14. [252.000-262.000] fold the plastic bag +15. [262.000-268.000] close the brown egg box and place the brown egg box on the table +16. [268.000-278.000] pick up an empty brown egg box and place the empty brown egg box on the table diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000028.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000028.txt new file mode 100644 index 0000000000000000000000000000000000000000..848fd51d110a2082004dae1e4f01e2b99fd752af --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000028.txt @@ -0,0 +1,20 @@ +Task: +Transfer eggs from a plastic bag into multiple egg cartons. + +Subtasks: +1. [0.000-6.000] open the cabinet door +2. [6.000-15.000] take the plastic bag containing eggs from the cabinet and place the plastic bag on the counter +3. [15.000-23.000] close the cabinet door +4. [23.000-30.000] move the white egg carton to the center of the counter +5. [30.000-38.000] open the plastic bag +6. [38.000-89.000] transfer eggs from the plastic bag into the white egg carton until the white egg carton is full +7. [89.000-105.000] close the white egg carton and place the white egg carton on the left side of the counter +8. [105.000-114.000] move a brown egg carton to the center of the counter +9. [114.000-160.000] transfer eggs from the plastic bag into the brown egg carton until the brown egg carton is full +10. [160.000-173.000] close the brown egg carton and place the brown egg carton on the left side of the counter +11. [173.000-180.000] move a second brown egg carton to the center of the counter +12. [180.000-227.000] transfer eggs from the plastic bag into the second brown egg carton until the second brown egg carton is full +13. [227.000-239.000] close the second brown egg carton and place the second brown egg carton on the left side of the counter +14. [239.000-244.000] move a third brown egg carton to the center of the counter +15. [244.000-282.000] transfer the remaining eggs from the plastic bag into the third brown egg carton +16. [282.000-295.000] close the third brown egg carton and place the third brown egg carton on the left side of the counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000029.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000029.txt new file mode 100644 index 0000000000000000000000000000000000000000..589f1cf8d4eec0bb2803ab01b41b40d02cdb1973 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000029.txt @@ -0,0 +1,26 @@ +Task: +Transfer eggs from a plastic bag into empty egg cartons and organize the filled cartons on the counter. + +Subtasks: +1. [0.000-5.500] open the cabinet doors +2. [5.500-17.500] move the plastic bag containing eggs from the cabinet to the counter +3. [17.500-25.500] close the cabinet doors +4. [25.500-31.000] pick up the empty egg cartons from the left side of the counter +5. [31.000-39.500] place the empty egg cartons on the right side of the counter next to the plastic bag +6. [39.500-43.500] open the plastic bag +7. [43.500-99.500] transfer eggs from the plastic bag into the first carton until the carton is filled +8. [99.500-107.500] close the first egg carton +9. [107.500-114.500] move the first egg carton to the left side of the counter +10. [114.500-120.500] pick up the second empty egg carton +11. [120.500-166.500] transfer eggs from the plastic bag into the second carton until the carton is filled +12. [166.500-177.500] close the second egg carton +13. [177.500-184.500] move the second egg carton to the left side of the counter +14. [184.500-193.500] pick up the third empty egg carton +15. [193.500-237.500] transfer eggs from the plastic bag into the third carton until the carton is filled +16. [237.500-260.500] close the third egg carton +17. [260.500-266.500] move the third egg carton to the left side of the counter +18. [266.500-273.500] pick up the fourth empty egg carton +19. [273.500-285.500] transfer the remaining eggs from the plastic bag into the fourth carton +20. [285.500-301.500] close the fourth egg carton +21. [301.500-306.500] move the fourth egg carton to the left side of the counter +22. [306.500-311.000] check the empty plastic bag diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000030.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000030.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b53f0e636531f023f6987a07b0b90301e1881d7 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000030.txt @@ -0,0 +1,36 @@ +Task: +Transfer eggs from a plastic bag into multiple egg cartons and move the filled cartons to the side counter. + +Subtasks: +1. [0.000-6.500] open the cabinet door +2. [6.500-16.000] move the plastic bag from the cabinet onto the right counter +3. [16.000-20.000] close the cabinet door +4. [20.000-27.100] move the egg cartons from the left counter to the right counter +5. [27.100-33.100] open the first egg carton +6. [33.100-45.100] move an egg from the plastic bag into the first egg carton +7. [45.100-57.100] move an egg from the plastic bag into the first egg carton +8. [57.100-67.100] move an egg from the plastic bag into the first egg carton +9. [67.100-77.100] move an egg from the plastic bag into the first egg carton +10. [77.100-88.100] move an egg from the plastic bag into the first egg carton +11. [88.100-98.100] move an egg from the plastic bag into the first egg carton +12. [98.100-105.100] close the first egg carton +13. [105.100-115.100] move the first egg carton from the right counter to the left counter +14. [115.100-125.100] open the second egg carton +15. [125.100-134.100] move an egg from the plastic bag into the second egg carton +16. [134.100-143.100] move an egg from the plastic bag into the second egg carton +17. [143.100-153.100] move an egg from the plastic bag into the second egg carton +18. [153.100-163.100] move an egg from the plastic bag into the second egg carton +19. [163.100-175.100] move an egg from the plastic bag into the second egg carton +20. [175.100-185.100] move an egg from the plastic bag into the second egg carton +21. [185.100-196.100] close the second egg carton +22. [196.100-206.100] move the second egg carton from the right counter to the left counter +23. [206.100-213.100] open the third egg carton +24. [213.100-225.100] move an egg from the plastic bag into the third egg carton +25. [225.100-235.100] move an egg from the plastic bag into the third egg carton +26. [235.100-245.100] move an egg from the plastic bag into the third egg carton +27. [245.100-255.100] move an egg from the plastic bag into the third egg carton +28. [255.100-265.100] move an egg from the plastic bag into the third egg carton +29. [265.100-275.100] move an egg from the plastic bag into the third egg carton +30. [275.100-285.100] close the third egg carton +31. [285.100-293.100] move the third egg carton from the right counter to the left counter +32. [293.100-303.000] move the foam egg carton from the left counter to the right counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000031.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000031.txt new file mode 100644 index 0000000000000000000000000000000000000000..6512900245fc9286623b7658c7c67f3fc16e27bc --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000031.txt @@ -0,0 +1,19 @@ +Task: +Transfer eggs from a plastic bag into multiple egg cartons and organize the full cartons on the counter. + +Subtasks: +1. [0.000-13.000] take the plastic bag out of the cabinet +2. [13.000-27.000] move the plastic bag onto the counter +3. [27.000-39.000] close the cabinet door +4. [39.000-46.000] open the egg cartons on the counter +5. [46.000-85.000] transfer eggs from the plastic bag into the first egg carton until the first egg carton is full +6. [85.000-112.000] transfer eggs from the plastic bag into the second egg carton +7. [112.000-125.000] close the first egg carton and place the first egg carton on the left side of the sink +8. [125.000-132.000] open the third egg carton on the counter +9. [132.000-174.000] transfer eggs from the plastic bag into the third egg carton until the third egg carton is full +10. [174.000-190.000] transfer eggs from the plastic bag into the second egg carton until the second egg carton is full +11. [190.000-198.000] close the third egg carton and place the third egg carton on the left side of the sink +12. [198.000-212.000] open the fourth egg carton on the counter +13. [212.000-256.000] transfer eggs from the plastic bag into the fourth egg carton until the fourth egg carton is full +14. [256.000-270.000] transfer the remaining eggs from the plastic bag into the fifth egg carton +15. [270.000-297.000] close the fourth egg carton and place the fourth egg carton on the left side of the sink diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000032.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000032.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c504f9ea9554c682ad5dd47346570aa9bfc95ff --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000032.txt @@ -0,0 +1,21 @@ +Task: +Transfer eggs from a plastic bag into multiple egg cartons. + +Subtasks: +1. [0.000-9.000] open the cabinet +2. [9.000-19.000] move the plastic bag from the cabinet to the table +3. [19.000-30.000] close the cabinet +4. [30.000-35.000] open the plastic bag +5. [35.000-54.000] move empty egg cartons from the left side of the table to the right side of the table +6. [54.000-123.000] move eggs from the plastic bag into the first egg carton until the egg carton is filled +7. [123.000-126.000] close the first egg carton +8. [126.000-131.000] move the first egg carton to the left side of the table +9. [131.000-140.000] move the second empty egg carton to the center of the table +10. [140.000-202.000] move eggs from the plastic bag into the second egg carton until the egg carton is filled +11. [202.000-205.000] close the second egg carton +12. [205.000-212.000] move the second egg carton to the left side of the table +13. [212.000-220.000] move the third empty egg carton to the center of the table +14. [220.000-271.000] move eggs from the plastic bag into the third egg carton until the egg carton is filled +15. [271.000-277.000] close the third egg carton +16. [277.000-287.000] move the third egg carton to the left side of the table +17. [287.000-297.000] move the remaining empty egg carton to the left side of the table diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000033.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000033.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f3e468908190951b2933599f702b7d4ad56a126 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000033.txt @@ -0,0 +1,37 @@ +Task: +Transfer eggs from a plastic bag to egg boxes. + +Subtasks: +1. [0.000-9.000] open the cabinet +2. [9.000-23.000] take the plastic bag of eggs out of the cabinet and put the plastic bag on the table +3. [23.000-30.000] close the cabinet +4. [30.000-43.000] open the plastic bag +5. [43.000-54.000] take two egg boxes and put the egg boxes near the plastic bag +6. [54.000-60.000] open the first egg box +7. [60.000-74.000] transfer three eggs from the plastic bag to the first egg box +8. [74.000-81.000] transfer an egg from the plastic bag to the first egg box +9. [81.000-87.000] transfer an egg from the plastic bag to the first egg box +10. [87.000-93.000] transfer an egg from the plastic bag to the first egg box +11. [93.000-105.000] transfer an egg from the plastic bag to the first egg box +12. [105.000-112.000] transfer an egg from the plastic bag to the first egg box +13. [112.000-118.000] transfer an egg from the plastic bag to the first egg box +14. [118.000-128.000] transfer an egg from the plastic bag to the first egg box +15. [128.000-138.000] close the first egg box and put the first egg box to the left shelf +16. [138.000-147.000] take the second egg box and open the second egg box +17. [147.000-157.000] transfer an egg from the plastic bag to the second egg box +18. [157.000-165.000] transfer an egg from the plastic bag to the second egg box +19. [165.000-171.000] transfer an egg from the plastic bag to the second egg box +20. [171.000-178.000] transfer an egg from the plastic bag to the second egg box +21. [178.000-187.000] transfer an egg from the plastic bag to the second egg box +22. [187.000-193.000] transfer an egg from the plastic bag to the second egg box +23. [193.000-205.000] transfer an egg from the plastic bag to the second egg box +24. [205.000-222.000] transfer an egg from the plastic bag to the second egg box +25. [222.000-234.000] close the second egg box and put the second egg box to the left shelf +26. [234.000-242.000] take the third egg box and open the third egg box +27. [242.000-255.000] transfer an egg from the plastic bag to the third egg box +28. [255.000-267.000] transfer an egg from the plastic bag to the third egg box +29. [267.000-278.000] transfer an egg from the plastic bag to the third egg box +30. [278.000-289.000] transfer an egg from the plastic bag to the third egg box +31. [289.000-301.000] close the third egg box +32. [301.000-309.000] put the third egg box to the left shelf +33. [309.000-319.000] take the fourth egg box and put the fourth egg box to the left shelf diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000034.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000034.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a14d0956b9b2b0b41fad945f8627677885d4aad --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000034.txt @@ -0,0 +1,17 @@ +Task: +Transfer eggs from a plastic bag into three egg cartons and arrange the cartons on the counter. + +Subtasks: +1. [0.000-21.000] take the plastic bag with eggs from the cabinet +2. [21.000-32.000] close the cabinet doors +3. [32.000-41.000] move the empty egg cartons to the counter +4. [41.000-54.000] open the plastic bag +5. [54.000-128.000] transfer eggs from the plastic bag into the first egg carton until the carton is filled +6. [128.000-136.000] close the first egg carton +7. [136.000-146.000] place the first egg carton on the left counter +8. [146.000-207.000] transfer eggs from the plastic bag into the second egg carton until the carton is filled +9. [207.000-213.000] close the second egg carton +10. [213.000-220.000] place the second egg carton on the left counter +11. [220.000-265.000] transfer eggs from the plastic bag into the third egg carton +12. [265.000-272.000] close the third egg carton +13. [272.000-284.000] place the third egg carton on the left counter diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000035.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000035.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0215c722572924e5e25f18cca2613e58b223e07 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000035.txt @@ -0,0 +1,26 @@ +Task: +Transfer eggs from a plastic bag into multiple egg boxes. + +Subtasks: +1. [0.000-6.000] open the cabinet door +2. [6.000-18.000] take the plastic bag from the cabinet +3. [18.000-23.000] place the plastic bag on the table +4. [23.000-33.000] close the cabinet door +5. [33.000-53.000] open the plastic bag +6. [53.000-60.000] move the first egg box closer to the plastic bag +7. [60.000-77.000] move eggs from the plastic bag into the first egg box +8. [77.000-97.000] close the first egg box +9. [97.000-112.000] open the first egg box +10. [112.000-132.000] move eggs from the plastic bag into the first egg box until the first egg box is filled +11. [132.000-147.000] close the first egg box +12. [147.000-156.000] move the first egg box to the left side of the table +13. [156.000-164.000] move a second empty egg box to the center of the table +14. [164.000-222.000] move eggs from the plastic bag into the second egg box until the second egg box is filled +15. [222.000-236.000] close the second egg box +16. [236.000-249.000] move the second egg box to the left side of the table +17. [249.000-261.000] move a third empty egg box to the center of the table +18. [261.000-318.000] move eggs from the plastic bag into the third egg box until the third egg box is filled +19. [318.000-326.000] close the third egg box +20. [326.000-332.000] move the third egg box to the left side of the table +21. [332.000-338.000] pick up an empty plastic egg box +22. [338.000-343.000] move the empty plastic egg box to the left side of the table diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000036.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000036.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6637419ec137f75baeed40319b9bcf0228c18b4 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000036.txt @@ -0,0 +1,4 @@ +Task: +episode-000036.mp4 + +Subtasks: diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000037.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000037.txt new file mode 100644 index 0000000000000000000000000000000000000000..a17ba4abca9cc9a048bd35c05cdf10c82c643f0e --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000037.txt @@ -0,0 +1,21 @@ +Task: +Transfer eggs from a plastic bag into multiple egg cartons. + +Subtasks: +1. [0.000-6.000] open the cabinet door +2. [6.000-24.000] move the plastic bag with eggs from the cabinet onto the counter +3. [24.000-30.000] close the cabinet door +4. [30.000-50.000] open the plastic bag +5. [50.000-59.000] move the first egg carton to the front of the plastic bag +6. [59.000-134.000] transfer eggs from the plastic bag into the first egg carton until the first egg carton is full +7. [134.000-142.000] close the first egg carton +8. [142.000-151.000] move the first egg carton to the left side of the sink +9. [151.000-159.000] move the second egg carton to the front of the plastic bag +10. [159.000-238.000] transfer eggs from the plastic bag into the second egg carton until the second egg carton is full +11. [238.000-245.000] close the second egg carton +12. [245.000-254.000] move the second egg carton to the left side of the sink +13. [254.000-266.000] move the third egg carton to the front of the plastic bag +14. [266.000-317.000] transfer eggs from the plastic bag into the third egg carton until the plastic bag is empty +15. [317.000-322.000] close the third egg carton +16. [322.000-328.000] move the third egg carton to the left side of the sink +17. [328.000-341.000] move the white egg carton onto the counter and open the white egg carton diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000038.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000038.txt new file mode 100644 index 0000000000000000000000000000000000000000..42e914e5c4cf90889a08c8acbe2ce2f140ed9f71 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000038.txt @@ -0,0 +1,31 @@ +Task: +Fold multiple cloths and place them into a blue basket. + +Subtasks: +1. [0.000-4.000] pick up a yellow cloth from the counter +2. [4.000-24.000] fold the yellow cloth +3. [24.000-30.000] place the yellow cloth into the blue basket +4. [30.000-34.000] pick up another yellow cloth from the counter +5. [34.000-66.000] fold the yellow cloth +6. [66.000-74.000] place the yellow cloth into the blue basket +7. [74.000-80.000] pick up another yellow cloth from the counter +8. [80.000-114.000] fold the yellow cloth +9. [114.000-120.000] place the yellow cloth into the blue basket +10. [120.000-125.000] pick up a blue cloth from the counter +11. [125.000-154.000] fold the blue cloth +12. [154.000-162.000] place the blue cloth into the blue basket +13. [162.000-168.000] pick up an orange cloth from the counter +14. [168.000-194.000] fold the orange cloth +15. [194.000-202.000] place the orange cloth into the blue basket +16. [202.000-206.000] pick up a yellow cloth from the counter +17. [206.000-232.000] fold the yellow cloth +18. [232.000-238.000] place the yellow cloth into the blue basket +19. [238.000-242.000] pick up a brown cloth from the counter +20. [242.000-270.000] fold the brown cloth +21. [270.000-274.000] place the brown cloth into the blue basket +22. [274.000-280.000] pick up a yellow cloth from the counter +23. [280.000-306.000] fold the yellow cloth +24. [306.000-318.000] place the yellow cloth into the blue basket +25. [318.000-322.000] pick up a green cloth from the counter +26. [322.000-354.000] fold the green cloth +27. [354.000-370.000] place the green cloth into the blue basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000039.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000039.txt new file mode 100644 index 0000000000000000000000000000000000000000..19bc02631021ce84ae9dc69d5db4f66faa5ecdd7 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000039.txt @@ -0,0 +1,31 @@ +Task: +Fold and organize several towels into a basket. + +Subtasks: +1. [0.000-2.500] pick up the towel +2. [2.500-27.100] fold the towel +3. [27.100-32.500] place the towel into the basket +4. [32.500-35.000] pick up the towel +5. [35.000-61.600] fold the towel +6. [61.600-67.600] place the towel into the basket +7. [67.600-70.500] pick up the towel +8. [70.500-96.100] fold the towel +9. [96.100-102.500] place the towel into the basket +10. [102.500-106.100] pick up the towel +11. [106.100-133.100] fold the towel +12. [133.100-137.600] place the towel into the basket +13. [137.600-141.100] pick up the towel +14. [141.100-153.100] fold the towel +15. [153.100-158.500] place the towel into the basket +16. [158.500-163.600] pick up the towel +17. [163.600-189.100] fold the towel +18. [189.100-196.100] place the towel into the basket +19. [196.100-201.600] pick up the towel +20. [201.600-216.500] fold the towel +21. [216.500-221.600] place the towel into the basket +22. [221.600-225.500] pick up the towel +23. [225.500-243.600] fold the towel +24. [243.600-248.500] place the towel into the basket +25. [248.500-251.600] pick up the towel +26. [251.600-261.600] fold the towel +27. [261.600-266.950] place the towel into the basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000040.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000040.txt new file mode 100644 index 0000000000000000000000000000000000000000..37de983188602f2d1bae7723dc1cd80296288cdc --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000040.txt @@ -0,0 +1,31 @@ +Task: +Fold the cloths and place them into the basket. + +Subtasks: +1. [0.000-6.000] pick up the brown cloth from the counter +2. [6.000-29.000] fold the brown cloth +3. [29.000-33.000] place the folded brown cloth into the basket +4. [33.000-36.000] pick up the dark grey cloth from the counter +5. [36.000-44.000] fold the dark grey cloth +6. [44.000-50.000] place the folded dark grey cloth into the basket +7. [50.000-54.000] pick up the black cloth from the counter +8. [54.000-71.000] fold the black cloth +9. [71.000-82.000] place the folded black cloth into the basket +10. [82.000-87.000] pick up the light blue cloth from the counter +11. [87.000-106.000] fold the light blue cloth +12. [106.000-116.000] place the folded light blue cloth into the basket +13. [116.000-120.000] pick up the second black cloth from the counter +14. [120.000-134.000] fold the second black cloth +15. [134.000-140.000] place the folded second black cloth into the basket +16. [140.000-144.000] pick up the green cloth from the counter +17. [144.000-205.000] fold the green cloth +18. [205.000-212.000] place the folded green cloth into the basket +19. [212.000-216.000] pick up the yellow cloth from the counter +20. [216.000-230.000] fold the yellow cloth +21. [230.000-235.000] place the folded yellow cloth into the basket +22. [235.000-239.000] pick up the second yellow cloth from the counter +23. [239.000-262.000] fold the second yellow cloth +24. [262.000-267.000] place the folded second yellow cloth into the basket +25. [267.000-271.000] pick up the orange cloth from the counter +26. [271.000-284.000] fold the orange cloth +27. [284.000-295.000] place the folded orange cloth into the basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000041.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000041.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2ce53eced025b504819f82aeaab368d40c516f3 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000041.txt @@ -0,0 +1,32 @@ +Task: +Fold multiple cloths and place them into a blue basket. + +Subtasks: +1. [0.000-4.000] pick up a yellow cloth from the counter +2. [4.000-23.000] fold the yellow cloth on the counter +3. [23.000-27.000] place the folded yellow cloth into the blue basket +4. [27.000-32.000] pick up a brown cloth from the counter +5. [32.000-48.000] fold the brown cloth on the counter +6. [48.000-54.000] place the folded brown cloth into the blue basket +7. [54.000-58.000] pick up a black cloth from the counter +8. [58.000-72.000] fold the black cloth on the counter +9. [72.000-78.000] place the folded black cloth into the blue basket +10. [78.000-81.000] pick up a second black cloth from the counter +11. [81.000-95.000] fold the second black cloth on the counter +12. [95.000-102.000] place the folded second black cloth into the blue basket +13. [102.000-105.000] pick up a blue cloth from the counter +14. [105.000-118.000] fold the blue cloth on the counter +15. [118.000-124.000] place the folded blue cloth into the blue basket +16. [124.000-128.000] pick up a green cloth from the counter +17. [128.000-148.000] stretch the green cloth above the sink +18. [148.000-177.000] fold the green cloth on the counter +19. [177.000-183.000] place the folded green cloth into the blue basket +20. [183.000-187.000] pick up a small yellow cloth from the counter +21. [187.000-202.000] fold the small yellow cloth on the counter +22. [202.000-206.000] place the folded small yellow cloth into the blue basket +23. [206.000-210.000] pick up an orange cloth from the counter +24. [210.000-222.000] fold the orange cloth on the counter +25. [222.000-228.000] place the folded orange cloth into the blue basket +26. [228.000-235.000] pick up another yellow cloth from the counter +27. [235.000-250.000] fold the yellow cloth on the counter +28. [250.000-255.000] place the folded yellow cloth into the blue basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000042.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000042.txt new file mode 100644 index 0000000000000000000000000000000000000000..2852c66d58ae673cbae5519a2955766a97ef4d64 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000042.txt @@ -0,0 +1,31 @@ +Task: +Fold several cloths and place them into the blue basket. + +Subtasks: +1. [0.000-4.400] pick up a yellow cloth from the pile on the left +2. [4.400-19.300] fold the yellow cloth on the counter +3. [19.300-23.300] place the folded yellow cloth into the blue basket +4. [23.300-27.600] pick up a black cloth from the pile on the left +5. [27.600-52.300] fold the black cloth on the counter +6. [52.300-60.100] place the folded black cloth into the blue basket +7. [60.100-65.200] pick up a brown cloth from the pile on the left +8. [65.200-87.200] fold the brown cloth on the counter +9. [87.200-92.500] place the folded brown cloth into the blue basket +10. [92.500-96.900] pick up a blue cloth from the pile on the left +11. [96.900-111.400] fold the blue cloth on the counter +12. [111.400-116.800] place the folded blue cloth into the blue basket +13. [116.800-121.200] pick up a second yellow cloth from the pile on the left +14. [121.200-138.800] fold the second yellow cloth on the counter +15. [138.800-144.300] place the folded second yellow cloth into the blue basket +16. [144.300-149.300] pick up a green cloth from the pile on the left +17. [149.300-199.300] fold the green cloth on the counter +18. [199.300-209.600] place the folded green cloth into the blue basket +19. [209.600-214.300] pick up a second black cloth from the pile on the left +20. [214.300-239.100] fold the second black cloth on the counter +21. [239.100-245.300] place the folded second black cloth into the blue basket +22. [245.300-249.400] pick up a third yellow cloth from the pile on the left +23. [249.400-264.800] fold the third yellow cloth on the counter +24. [264.800-270.800] place the folded third yellow cloth into the blue basket +25. [270.800-274.500] pick up an orange cloth from the pile on the left +26. [274.500-287.400] fold the orange cloth on the counter +27. [287.400-295.000] place the folded orange cloth into the blue basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000043.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000043.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b60b8b9c4b08421c2eb0ac852b4ac435e50625c --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000043.txt @@ -0,0 +1,31 @@ +Task: +Fold multiple cloths one by one and place them into a blue basket. + +Subtasks: +1. [0.000-4.000] pick up a black cloth from the pile +2. [4.000-17.000] fold the black cloth +3. [17.000-21.000] place the folded black cloth into the blue basket +4. [21.000-25.000] pick up a brown cloth from the pile +5. [25.000-38.000] fold the brown cloth +6. [38.000-41.000] place the folded brown cloth into the blue basket +7. [41.000-45.000] pick up a yellow cloth from the pile +8. [45.000-60.000] fold the yellow cloth +9. [60.000-66.000] place the folded yellow cloth into the blue basket +10. [66.000-70.000] pick up a blue cloth from the pile +11. [70.000-82.000] fold the blue cloth +12. [82.000-87.000] place the folded blue cloth into the blue basket +13. [87.000-94.000] pick up a green cloth from the pile +14. [94.000-135.000] fold the green cloth +15. [135.000-142.000] place the folded green cloth into the blue basket +16. [142.000-147.000] pick up a yellow cloth from the pile +17. [147.000-157.000] fold the yellow cloth +18. [157.000-164.000] place the folded yellow cloth into the blue basket +19. [164.000-168.000] pick up a black cloth from the pile +20. [168.000-184.000] fold the black cloth +21. [184.000-189.000] place the folded black cloth into the blue basket +22. [189.000-193.000] pick up another black cloth from the pile +23. [193.000-202.000] fold the black cloth +24. [202.000-207.000] place the folded black cloth into the blue basket +25. [207.000-212.000] pick up an orange cloth from the pile +26. [212.000-226.000] fold the orange cloth +27. [226.000-234.000] place the folded orange cloth into the blue basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000044.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000044.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc8d55b2013d1a377494116919e829de204fcb92 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000044.txt @@ -0,0 +1,4 @@ +Task: +episode-000044.mp4 + +Subtasks: diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000045.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000045.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c34f8adb351e80ea45351cc1354a002b89ffb71 --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000045.txt @@ -0,0 +1,31 @@ +Task: +Fold several cloths and place them into a basket. + +Subtasks: +1. [0.000-6.000] pick up the yellow cloth from the table +2. [6.000-24.000] fold the yellow cloth +3. [24.000-33.000] place the yellow cloth into the basket +4. [33.000-37.000] pick up the brown cloth from the table +5. [37.000-58.000] fold the brown cloth +6. [58.000-65.000] place the brown cloth into the basket +7. [65.000-70.000] pick up the green cloth from the table +8. [70.000-124.000] fold the green cloth +9. [124.000-131.000] place the green cloth into the basket +10. [131.000-133.000] pick up the yellow cloth from the table +11. [133.000-147.000] fold the yellow cloth +12. [147.000-151.000] place the yellow cloth into the basket +13. [151.000-154.000] pick up the blue cloth from the table +14. [154.000-164.000] fold the blue cloth +15. [164.000-171.000] place the blue cloth into the basket +16. [171.000-173.000] pick up the yellow cloth from the table +17. [173.000-191.000] fold the yellow cloth +18. [191.000-198.000] place the yellow cloth into the basket +19. [198.000-202.000] pick up the black cloth from the table +20. [202.000-214.000] fold the black cloth +21. [214.000-219.000] place the black cloth into the basket +22. [219.000-223.000] pick up the black cloth from the table +23. [223.000-241.000] fold the black cloth +24. [241.000-247.000] place the black cloth into the basket +25. [247.000-249.000] pick up the orange cloth from the table +26. [249.000-269.000] fold the orange cloth +27. [269.000-276.000] place the orange cloth into the basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000046.txt b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000046.txt new file mode 100644 index 0000000000000000000000000000000000000000..15a6da1a754f1042e61856dc60ecb8e4a3768bfb --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/captions/take-000046.txt @@ -0,0 +1,30 @@ +Task: +Fold multiple colored cloths and organize them by placing them into a blue basket. + +Subtasks: +1. [0.000-19.500] fold the yellow cloth +2. [19.500-23.500] place the folded yellow cloth into the blue basket +3. [23.500-26.500] pick up a brown cloth from the table +4. [26.500-41.500] fold the brown cloth +5. [41.500-51.500] place the folded brown cloth into the blue basket +6. [51.500-54.500] pick up a yellow cloth from the table +7. [54.500-73.500] fold the yellow cloth +8. [73.500-80.500] place the folded yellow cloth into the blue basket +9. [80.500-84.500] pick up a green cloth from the table +10. [84.500-148.500] fold the green cloth +11. [148.500-155.500] place the folded green cloth into the blue basket +12. [155.500-159.500] pick up a yellow cloth from the table +13. [159.500-176.500] fold the yellow cloth +14. [176.500-183.500] place the folded yellow cloth into the blue basket +15. [183.500-187.500] pick up a blue cloth from the table +16. [187.500-204.500] fold the blue cloth +17. [204.500-211.500] place the folded blue cloth into the blue basket +18. [211.500-215.500] pick up a black cloth from the table +19. [215.500-231.500] fold the black cloth +20. [231.500-238.500] place the folded black cloth into the blue basket +21. [238.500-243.500] pick up a yellow cloth from the table +22. [243.500-256.500] fold the yellow cloth +23. [256.500-261.500] place the folded yellow cloth into the blue basket +24. [261.500-264.500] pick up an orange cloth from the table +25. [264.500-276.500] fold the orange cloth +26. [276.500-283.950] place the folded orange cloth into the blue basket diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000000.parquet b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5c3cbd5900f8688de42da89b0353327ef498d9fa --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c96e5333160bb433aa1f3f48bee24b6aff85dc41b21ea44d22ac74957385871 +size 1427178 diff --git a/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000001.parquet b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e47abc0eece132b225ace306e2e7f151b94b6a7d --- /dev/null +++ b/Table-scale/Tactile/ACE-Data-Tactile-0/raw/imu/take-000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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