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annotations_gap0.6/chunk-021/episode_021191.json

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+{
+  "episode": "chunk-021/episode_021191",
+  "task": "turn the bottom right knob of the toaster to the left",
+  "raw_length": 215,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 23,
+      "subtask": "turn the bottom right knob of the toaster counterclockwise"
+    }
+  ],
+  "source_episode": "21191_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 24,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021192.json

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+{
+  "episode": "chunk-021/episode_021192",
+  "task": "put the pink cup on the dish drainer",
+  "raw_length": 397,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 18,
+      "subtask": "pick up the pink cup from the countertop"
+    },
+    {
+      "start": 19,
+      "end": 29,
+      "subtask": "transfer the pink cup from the countertop to the dish drainer"
+    },
+    {
+      "start": 30,
+      "end": 44,
+      "subtask": "place the pink cup on the dish drainer"
+    }
+  ],
+  "source_episode": "21192_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-11/Sun_Jun_11_15:55:24_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 45,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021193.json

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+{
+  "episode": "chunk-021/episode_021193",
+  "task": "remove the white towel from the black stand and put it on the table",
+  "raw_length": 121,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pull the white towel out of the black stand"
+    },
+    {
+      "start": 10,
+      "end": 13,
+      "subtask": "place the white towel on the table"
+    }
+  ],
+  "source_episode": "21193_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-06-21/Wed_Jun_21_16:42:08_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 14,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021194.json

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+{
+  "episode": "chunk-021/episode_021194",
+  "task": "transfer the bottle from the plastic bag to the table",
+  "raw_length": 225,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 16,
+      "subtask": "pick up the bottle from the plastic bag"
+    },
+    {
+      "start": 17,
+      "end": 19,
+      "subtask": "transfer the bottle from the plastic bag to the tabletop"
+    },
+    {
+      "start": 20,
+      "end": 24,
+      "subtask": "place the bottle on the tabletop"
+    }
+  ],
+  "source_episode": "21194_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-02-04/Sun_Feb__4_14:59:24_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 25,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021195.json

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+{
+  "episode": "chunk-021/episode_021195",
+  "task": "move the cloth to the left",
+  "raw_length": 94,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 7,
+      "subtask": "pick up the cloth on the table"
+    },
+    {
+      "start": 8,
+      "end": 10,
+      "subtask": "transfer the cloth from the table to the left side of the table, then place the cloth on the left side of the table"
+    }
+  ],
+  "source_episode": "21195_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-07-14/Fri_Jul_14_13:37:34_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 11,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021196.json

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+{
+  "episode": "chunk-021/episode_021196",
+  "task": "move the cup to the right",
+  "raw_length": 151,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 11,
+      "subtask": "pick up the cup on the table"
+    },
+    {
+      "start": 12,
+      "end": 16,
+      "subtask": "push the cup to the right on the table"
+    }
+  ],
+  "source_episode": "21196_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_04:04:58_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 17,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021206.json

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+{
+  "episode": "chunk-021/episode_021206",
+  "task": "take the marker out of the cup and put it on the table",
+  "raw_length": 244,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 17,
+      "subtask": "pick up the marker from the cup"
+    },
+    {
+      "start": 18,
+      "end": 22,
+      "subtask": "transfer the marker from the cup to the desktop"
+    },
+    {
+      "start": 23,
+      "end": 27,
+      "subtask": "place the marker on the desktop"
+    }
+  ],
+  "source_episode": "21206_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_10:27:19_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 28,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021208.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021208",
+  "task": "close the door",
+  "raw_length": 186,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 20,
+      "subtask": "push the door against the door frame to close the door"
+    }
+  ],
+  "source_episode": "21208_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-01/Wed_Nov__1_11:05:39_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 21,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021219.json

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+{
+  "episode": "chunk-021/episode_021219",
+  "task": "Move the cup to the left",
+  "raw_length": 397,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 21,
+      "subtask": "pick up the cup from the desktop"
+    },
+    {
+      "start": 22,
+      "end": 36,
+      "subtask": "transfer the cup from the desktop to the left side of the desktop"
+    },
+    {
+      "start": 37,
+      "end": 44,
+      "subtask": "place the cup on the left side of the desktop"
+    }
+  ],
+  "source_episode": "21219_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-06-01/Thu_Jun__1_19:06:30_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 45,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021220.json

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+{
+  "episode": "chunk-021/episode_021220",
+  "task": "pick up a green block and put inside the open box",
+  "raw_length": 138,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 7,
+      "subtask": "pick up the green block on the table"
+    },
+    {
+      "start": 8,
+      "end": 9,
+      "subtask": "transfer the green block from the table to the open box"
+    },
+    {
+      "start": 10,
+      "end": 15,
+      "subtask": "place the green block in the open box"
+    }
+  ],
+  "source_episode": "21220_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_18:06:45_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 16,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021221.json

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+{
+  "episode": "chunk-021/episode_021221",
+  "task": "place the ring on the table",
+  "raw_length": 177,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 10,
+      "subtask": "pick up the ring in the box"
+    },
+    {
+      "start": 11,
+      "end": 13,
+      "subtask": "transfer the ring from the box to the table"
+    },
+    {
+      "start": 14,
+      "end": 19,
+      "subtask": "place the ring on the table"
+    }
+  ],
+  "source_episode": "21221_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-02-02/Fri_Feb__2_19:34:56_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 20,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021225.json

@@ -0,0 +1,81 @@
+{
+  "episode": "chunk-021/episode_021225",
+  "task": "scoop the stuff in the bowl with a spoon and pour it into the box",
+  "raw_length": 690,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pick up the spoon from the bowl"
+    },
+    {
+      "start": 10,
+      "end": 18,
+      "subtask": "transfer the spoon from the bowl to the box"
+    },
+    {
+      "start": 19,
+      "end": 21,
+      "subtask": "pour the contents of the spoon onto the box"
+    },
+    {
+      "start": 22,
+      "end": 25,
+      "subtask": "place the spoon onto the box"
+    },
+    {
+      "start": 26,
+      "end": 32,
+      "subtask": "pick up the spoon from the box"
+    },
+    {
+      "start": 33,
+      "end": 35,
+      "subtask": "transfer the spoon from the box to the bowl"
+    },
+    {
+      "start": 36,
+      "end": 42,
+      "subtask": "place the spoon into the bowl"
+    },
+    {
+      "start": 43,
+      "end": 52,
+      "subtask": "manipulate the object with the spoon"
+    },
+    {
+      "start": 53,
+      "end": 66,
+      "subtask": "manipulate the object with the spoon"
+    },
+    {
+      "start": 67,
+      "end": 68,
+      "subtask": "transfer the spoon from the bowl to the box"
+    },
+    {
+      "start": 69,
+      "end": 70,
+      "subtask": "pour the object from the spoon into the box"
+    },
+    {
+      "start": 71,
+      "end": 72,
+      "subtask": "transfer the spoon from the box to the bowl"
+    },
+    {
+      "start": 73,
+      "end": 76,
+      "subtask": "place the spoon into the bowl"
+    }
+  ],
+  "source_episode": "21225_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-14/Tue_Nov_14_13:51:35_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 77,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021227.json

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+{
+  "episode": "chunk-021/episode_021227",
+  "task": "place the white spoon in the white mug",
+  "raw_length": 225,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 16,
+      "subtask": "pick up the white spoon from the table"
+    },
+    {
+      "start": 17,
+      "end": 21,
+      "subtask": "transfer the white spoon from the table to above the white mug"
+    },
+    {
+      "start": 22,
+      "end": 24,
+      "subtask": "place the white spoon in the white mug"
+    }
+  ],
+  "source_episode": "21227_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-17/Wed_May_17_17:02:15_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 25,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021240.json

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+{
+  "episode": "chunk-021/episode_021240",
+  "task": "the cloth on the table is used to wipe the table",
+  "raw_length": 231,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 10,
+      "subtask": "pick up the checkered cloth on the table"
+    },
+    {
+      "start": 11,
+      "end": 25,
+      "subtask": "slide the checkered cloth on the table to wipe the tabletop"
+    }
+  ],
+  "source_episode": "21240_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-12-19/Tue_Dec_19_22:23:52_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 26,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021245.json

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+{
+  "episode": "chunk-021/episode_021245",
+  "task": "put the cable in the storage box",
+  "raw_length": 124,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 7,
+      "subtask": "pick up the cable from the rack"
+    },
+    {
+      "start": 8,
+      "end": 9,
+      "subtask": "transfer the cable from the rack to the storage box"
+    },
+    {
+      "start": 10,
+      "end": 13,
+      "subtask": "place the cable in the storage box"
+    }
+  ],
+  "source_episode": "21245_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-15/Sun_Oct_15_19:37:36_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 14,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021247.json

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+{
+  "episode": "chunk-021/episode_021247",
+  "task": "wipe the table",
+  "raw_length": 218,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 20,
+      "subtask": "wipe the surface of the table"
+    },
+    {
+      "start": 21,
+      "end": 24,
+      "subtask": "place the tissue on the table"
+    }
+  ],
+  "source_episode": "21247_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-22/Tue_Aug_22_10:23:02_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 25,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021251.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021251",
+  "task": "put the marker on the table",
+  "raw_length": 139,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pick up the marker from the cup"
+    },
+    {
+      "start": 10,
+      "end": 12,
+      "subtask": "transfer the marker from the cup to the table"
+    },
+    {
+      "start": 13,
+      "end": 15,
+      "subtask": "place the marker on the table"
+    }
+  ],
+  "source_episode": "21251_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-04-21/Fri_Apr_21_21:01:54_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 16,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021272.json

@@ -0,0 +1,36 @@
+{
+  "episode": "chunk-021/episode_021272",
+  "task": "use the towel to wipe the counter",
+  "raw_length": 442,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 13,
+      "subtask": "pick up the towel from the left side of the desk"
+    },
+    {
+      "start": 14,
+      "end": 18,
+      "subtask": "transfer the towel from the left side of the desk to the right side"
+    },
+    {
+      "start": 19,
+      "end": 22,
+      "subtask": "place the towel on the right side of the desk"
+    },
+    {
+      "start": 23,
+      "end": 49,
+      "subtask": "use the towel to wipe the counter"
+    }
+  ],
+  "source_episode": "21272_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-07-15/Sat_Jul_15_22:58:22_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 50,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021274.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021274",
+  "task": "place the orange cup inside the black bowl",
+  "raw_length": 121,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 8,
+      "subtask": "pick up the orange cup on the table"
+    },
+    {
+      "start": 9,
+      "end": 11,
+      "subtask": "transfer the orange cup from the table to above the black bowl"
+    },
+    {
+      "start": 12,
+      "end": 13,
+      "subtask": "place the orange cup inside the black bowl"
+    }
+  ],
+  "source_episode": "21274_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-07-27/Thu_Jul_27_09:39:12_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 14,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021275.json

@@ -0,0 +1,41 @@
+{
+  "episode": "chunk-021/episode_021275",
+  "task": "pick up the cup and pour its content into the bowl",
+  "raw_length": 269,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 11,
+      "subtask": "pick up the cup to the left of the yellow bowl"
+    },
+    {
+      "start": 12,
+      "end": 14,
+      "subtask": "transfer the cup from the left side of the bowl to the yellow bowl"
+    },
+    {
+      "start": 15,
+      "end": 21,
+      "subtask": "pour the contents of the cup into the yellow bowl"
+    },
+    {
+      "start": 22,
+      "end": 27,
+      "subtask": "move the cup from the yellow bowl to the table behind the yellow bowl"
+    },
+    {
+      "start": 28,
+      "end": 29,
+      "subtask": "place the cup onto the table behind the yellow bowl"
+    }
+  ],
+  "source_episode": "21275_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-30/Thu_Nov_30_15:23:54_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 30,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021276.json

@@ -0,0 +1,26 @@
+{
+  "episode": "chunk-021/episode_021276",
+  "task": "Put the bowl inside the sink",
+  "raw_length": 232,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 12,
+      "subtask": "pick up the bowl on the table"
+    },
+    {
+      "start": 13,
+      "end": 25,
+      "subtask": "place the bowl in the sink"
+    }
+  ],
+  "source_episode": "21276_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-11-30/Thu_Nov_30_19:01:19_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 26,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021277.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021277",
+  "task": "take the marker from the cup and put it on the kitchen counter",
+  "raw_length": 129,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 8,
+      "subtask": "pick up the marker from the cup"
+    },
+    {
+      "start": 9,
+      "end": 11,
+      "subtask": "transfer the marker from the cup to the kitchen counter"
+    },
+    {
+      "start": 12,
+      "end": 14,
+      "subtask": "place the marker on the kitchen counter"
+    }
+  ],
+  "source_episode": "21277_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-06/Mon_Mar__6_16_15_46_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 15,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021279.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021279",
+  "task": "put the green block in the bowl",
+  "raw_length": 78,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 8,
+      "subtask": "pick up the green block from the floor, then transfer the green block from the floor to above the bowl, then place the green block in the bowl"
+    }
+  ],
+  "source_episode": "21279_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-27/Fri_Oct_27_20:31:47_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 9,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021280.json

@@ -0,0 +1,46 @@
+{
+  "episode": "chunk-021/episode_021280",
+  "task": "move the items inside the box into the black cup, place the pen on the table into the box",
+  "raw_length": 771,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 24,
+      "subtask": "pick up the object in the box"
+    },
+    {
+      "start": 25,
+      "end": 36,
+      "subtask": "transfer the object from the box to the black cup"
+    },
+    {
+      "start": 37,
+      "end": 38,
+      "subtask": "place the object in the black cup"
+    },
+    {
+      "start": 39,
+      "end": 59,
+      "subtask": "pick up the pen on the table surface"
+    },
+    {
+      "start": 60,
+      "end": 77,
+      "subtask": "transfer the pen from the tabletop to the box"
+    },
+    {
+      "start": 78,
+      "end": 85,
+      "subtask": "place the pen in the box"
+    }
+  ],
+  "source_episode": "21280_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-26/Thu_Oct_26_13:47:54_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 86,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021281.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021281",
+  "task": "put the blue ring on the table",
+  "raw_length": 167,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 8,
+      "subtask": "pick up the blue ring from the shelf"
+    },
+    {
+      "start": 9,
+      "end": 15,
+      "subtask": "transfer the blue ring from the shelf to the countertop"
+    },
+    {
+      "start": 16,
+      "end": 18,
+      "subtask": "place the blue ring on the countertop"
+    }
+  ],
+  "source_episode": "21281_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-07-21/Fri_Jul_21_12:56:50_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 19,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021282.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021282",
+  "task": "take the bottle from the box to the table",
+  "raw_length": 425,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 25,
+      "subtask": "pick up the bottle from the box"
+    },
+    {
+      "start": 26,
+      "end": 34,
+      "subtask": "transfer the bottle from the box to the table"
+    },
+    {
+      "start": 35,
+      "end": 47,
+      "subtask": "place the bottle on the table"
+    }
+  ],
+  "source_episode": "21282_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-11-27/Mon_Nov_27_17:21:24_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 48,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021283.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021283",
+  "task": "pick up the black object from the left armrest of the sofa and put it on the cushion of the sofa",
+  "raw_length": 161,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pick up the black object from the left armrest of the couch"
+    },
+    {
+      "start": 10,
+      "end": 11,
+      "subtask": "transfer the black object from the left armrest of the couch to the cushion of the couch"
+    },
+    {
+      "start": 12,
+      "end": 17,
+      "subtask": "place the black object on the cushion of the couch"
+    }
+  ],
+  "source_episode": "21283_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-08-22/Tue_Aug_22_20:59:03_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 18,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021284.json

@@ -0,0 +1,26 @@
+{
+  "episode": "chunk-021/episode_021284",
+  "task": "Put the purple toy on the left side of the warmer",
+  "raw_length": 107,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 7,
+      "subtask": "pick up the object on the table"
+    },
+    {
+      "start": 8,
+      "end": 11,
+      "subtask": "place the purple toy to the left of the table"
+    }
+  ],
+  "source_episode": "21284_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-10-04/Wed_Oct__4_10:37:42_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 12,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021285.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021285",
+  "task": "open the flask",
+  "raw_length": 125,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 13,
+      "subtask": "press the switch on the flask"
+    }
+  ],
+  "source_episode": "21285_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-03/Sat_Jun__3_01:27:55_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 14,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021287.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021287",
+  "task": "put the transparent bowl into the sink",
+  "raw_length": 228,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 10,
+      "subtask": "pick up the transparent bowl on the table"
+    },
+    {
+      "start": 11,
+      "end": 14,
+      "subtask": "transfer the transparent bowl from the table to the sink"
+    },
+    {
+      "start": 15,
+      "end": 25,
+      "subtask": "place the transparent bowl in the sink"
+    }
+  ],
+  "source_episode": "21287_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-11-30/Thu_Nov_30_19:02:21_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 26,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021288.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021288",
+  "task": "Put the white brush in the black cup",
+  "raw_length": 143,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 8,
+      "subtask": "pick up the object on the left desk"
+    },
+    {
+      "start": 9,
+      "end": 10,
+      "subtask": "transfer the object from the left desk to the black cup"
+    },
+    {
+      "start": 11,
+      "end": 15,
+      "subtask": "place the object in the black cup"
+    }
+  ],
+  "source_episode": "21288_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-03/Wed_Jan__3_14:33:27_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 16,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021289.json

@@ -0,0 +1,61 @@
+{
+  "episode": "chunk-021/episode_021289",
+  "task": "move the toy car to the left, place the green ball into the cup, and move the wooden block closer to the cup",
+  "raw_length": 499,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 13,
+      "subtask": "pick up the toy car from the table"
+    },
+    {
+      "start": 14,
+      "end": 15,
+      "subtask": "push the toy car to the left"
+    },
+    {
+      "start": 16,
+      "end": 21,
+      "subtask": "place the toy car on the left side of the table"
+    },
+    {
+      "start": 22,
+      "end": 24,
+      "subtask": "pick up the green ball from the table"
+    },
+    {
+      "start": 25,
+      "end": 29,
+      "subtask": "transfer the green ball from the table to the cup"
+    },
+    {
+      "start": 30,
+      "end": 34,
+      "subtask": "place the green ball in the cup"
+    },
+    {
+      "start": 35,
+      "end": 45,
+      "subtask": "pick up the wooden block from the table"
+    },
+    {
+      "start": 46,
+      "end": 47,
+      "subtask": "transfer the wooden block from the table to the location near the cup"
+    },
+    {
+      "start": 48,
+      "end": 55,
+      "subtask": "place the wooden block in the position near the cup"
+    }
+  ],
+  "source_episode": "21289_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-16/Mon_Oct_16_15:14:06_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 56,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021290.json

@@ -0,0 +1,41 @@
+{
+  "episode": "chunk-021/episode_021290",
+  "task": "separate the three pots",
+  "raw_length": 368,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 18,
+      "subtask": "pick up the stainless steel spoon from the stainless steel cup"
+    },
+    {
+      "start": 19,
+      "end": 20,
+      "subtask": "transfer the stainless steel spoon from the stainless steel cup to the table"
+    },
+    {
+      "start": 21,
+      "end": 23,
+      "subtask": "place the stainless steel spoon on the table"
+    },
+    {
+      "start": 24,
+      "end": 36,
+      "subtask": "pick up the stainless steel teaspoon from the stainless steel spoon, then transfer the stainless steel teaspoon from the stainless steel spoon to the table"
+    },
+    {
+      "start": 37,
+      "end": 40,
+      "subtask": "place the stainless steel teaspoon on the table"
+    }
+  ],
+  "source_episode": "21290_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-07-01/Sat_Jul__1_16:06:51_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 41,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021291.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021291",
+  "task": "put the bag on the right side of the table",
+  "raw_length": 211,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 11,
+      "subtask": "pick up the bag on the table"
+    },
+    {
+      "start": 12,
+      "end": 19,
+      "subtask": "transfer the bag from the left side of the table to the right side of the table"
+    },
+    {
+      "start": 20,
+      "end": 23,
+      "subtask": "place the bag on the right side of the table"
+    }
+  ],
+  "source_episode": "21291_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-12-13/Wed_Dec_13_16:49:47_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 24,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021292.json

@@ -0,0 +1,26 @@
+{
+  "episode": "chunk-021/episode_021292",
+  "task": "open the door",
+  "raw_length": 575,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 56,
+      "subtask": "pull the handle of the door to open the door"
+    },
+    {
+      "start": 57,
+      "end": 63,
+      "subtask": "push the door outward to open"
+    }
+  ],
+  "source_episode": "21292_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-11-19/Sun_Nov_19_14:29:33_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 64,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021293.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021293",
+  "task": "rotate the book on the right",
+  "raw_length": 499,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 55,
+      "subtask": "rotate the book clockwise"
+    }
+  ],
+  "source_episode": "21293_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-19/Thu_Oct_19_14:07:26_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 56,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021294.json

@@ -0,0 +1,26 @@
+{
+  "episode": "chunk-021/episode_021294",
+  "task": "move the ball to the storage box",
+  "raw_length": 185,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 12,
+      "subtask": "pick up the ball on the table"
+    },
+    {
+      "start": 13,
+      "end": 20,
+      "subtask": "place the ball in the storage box"
+    }
+  ],
+  "source_episode": "21294_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-01-31/Wed_Jan_31_23:39:02_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 21,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021295.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021295",
+  "task": "put the blue pen inside the clear cup",
+  "raw_length": 204,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 13,
+      "subtask": "pick up the blue pen from the table"
+    },
+    {
+      "start": 14,
+      "end": 16,
+      "subtask": "transfer the blue pen from the table to the clear cup"
+    },
+    {
+      "start": 17,
+      "end": 22,
+      "subtask": "place the blue pen inside the clear cup"
+    }
+  ],
+  "source_episode": "21295_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-12/Fri_May_12_10:48:09_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 23,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021296.json

@@ -0,0 +1,36 @@
+{
+  "episode": "chunk-021/episode_021296",
+  "task": "pour the seeds into the plastic container",
+  "raw_length": 350,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 14,
+      "subtask": "pick up the black plate on the table"
+    },
+    {
+      "start": 15,
+      "end": 21,
+      "subtask": "transfer the black plate from the table to the top of the plastic container"
+    },
+    {
+      "start": 22,
+      "end": 31,
+      "subtask": "pour the seeds from the black plate into the plastic container"
+    },
+    {
+      "start": 32,
+      "end": 38,
+      "subtask": "place the black plate on the desktop"
+    }
+  ],
+  "source_episode": "21296_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-12-05/Tue_Dec__5_15:33:09_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 39,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021298.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021298",
+  "task": "fold a towel on the table three times",
+  "raw_length": 1358,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 91,
+      "subtask": "fold a towel on the countertop"
+    },
+    {
+      "start": 92,
+      "end": 122,
+      "subtask": "fold a towel on the countertop again"
+    },
+    {
+      "start": 123,
+      "end": 150,
+      "subtask": "fold the last towel on the countertop"
+    }
+  ],
+  "source_episode": "21298_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-21/Tue_Nov_21_21:19:34_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 151,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021299.json

@@ -0,0 +1,46 @@
+{
+  "episode": "chunk-021/episode_021299",
+  "task": "stack the cups in the order of yellow, blue, and orange",
+  "raw_length": 315,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pick up the yellow cup on the table"
+    },
+    {
+      "start": 10,
+      "end": 11,
+      "subtask": "transfer the yellow cup from the table to the top of the blue cup"
+    },
+    {
+      "start": 12,
+      "end": 16,
+      "subtask": "place the yellow cup inside the blue cup"
+    },
+    {
+      "start": 17,
+      "end": 25,
+      "subtask": "pick up the dark blue cup on the table"
+    },
+    {
+      "start": 26,
+      "end": 28,
+      "subtask": "transfer the dark blue cup from the table to the top of the yellow cup"
+    },
+    {
+      "start": 29,
+      "end": 34,
+      "subtask": "place the dark blue cup inside the yellow cup"
+    }
+  ],
+  "source_episode": "21299_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-07-07/Fri_Jul__7_16:11:11_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 35,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021300.json

@@ -0,0 +1,26 @@
+{
+  "episode": "chunk-021/episode_021300",
+  "task": "push the clothes rack, pull the pillow",
+  "raw_length": 321,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 24,
+      "subtask": "push the clothes rack to the left"
+    },
+    {
+      "start": 25,
+      "end": 35,
+      "subtask": "pull the pillow forward"
+    }
+  ],
+  "source_episode": "21300_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_13:27:43_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 36,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021302.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021302",
+  "task": "put the cup on the plate",
+  "raw_length": 115,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 7,
+      "subtask": "pick up the cup on the table"
+    },
+    {
+      "start": 8,
+      "end": 9,
+      "subtask": "transfer the cup from the table to above the plate"
+    },
+    {
+      "start": 10,
+      "end": 12,
+      "subtask": "place the cup on the plate"
+    }
+  ],
+  "source_episode": "21302_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-19/Mon_Feb_19_14:28:56_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 13,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021303.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021303",
+  "task": "touching the button of the kettle on the table",
+  "raw_length": 108,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 11,
+      "subtask": "press the button of the kettle on the table"
+    }
+  ],
+  "source_episode": "21303_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-12-19/Tue_Dec_19_18:46:40_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 12,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021304.json

@@ -0,0 +1,46 @@
+{
+  "episode": "chunk-021/episode_021304",
+  "task": "pick up the towel and put it on the left hand rest of the couch",
+  "raw_length": 483,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 17,
+      "subtask": "pick up the towel on the left armrest of the sofa"
+    },
+    {
+      "start": 18,
+      "end": 26,
+      "subtask": "transfer the towel from the left armrest of the sofa to the right armrest of the sofa"
+    },
+    {
+      "start": 27,
+      "end": 32,
+      "subtask": "place the towel on the right armrest of the sofa"
+    },
+    {
+      "start": 33,
+      "end": 45,
+      "subtask": "pick up the towel from the sofa"
+    },
+    {
+      "start": 46,
+      "end": 48,
+      "subtask": "transfer the towel from the sofa to the right armrest of the sofa"
+    },
+    {
+      "start": 49,
+      "end": 53,
+      "subtask": "place the towel on the right armrest of the sofa"
+    }
+  ],
+  "source_episode": "21304_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-12/Thu_Oct_12_01:27:11_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 54,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021305.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021305",
+  "task": "put the water cup at the water outlet of the water dispenser",
+  "raw_length": 241,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 10,
+      "subtask": "pick up the transparent cup on the table"
+    },
+    {
+      "start": 11,
+      "end": 21,
+      "subtask": "transfer the transparent cup from the table to the water dispenser"
+    },
+    {
+      "start": 22,
+      "end": 26,
+      "subtask": "place the transparent cup at the water dispenser"
+    }
+  ],
+  "source_episode": "21305_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-08-06/Sun_Aug__6_19:44:53_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 27,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021306.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021306",
+  "task": "Take the marker out of the mug.",
+  "raw_length": 315,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 30,
+      "subtask": "pick up the marker from the mug"
+    },
+    {
+      "start": 31,
+      "end": 32,
+      "subtask": "transfer the marker from the mug to the desktop"
+    },
+    {
+      "start": 33,
+      "end": 34,
+      "subtask": "place the marker on the desktop"
+    }
+  ],
+  "source_episode": "21306_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-05/Tue_Sep__5_17:09:42_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 35,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021307.json

@@ -0,0 +1,31 @@
+{
+  "episode": "chunk-021/episode_021307",
+  "task": "put the transparent lid on the table",
+  "raw_length": 195,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 15,
+      "subtask": "pick up the transparent lid from the table"
+    },
+    {
+      "start": 16,
+      "end": 18,
+      "subtask": "transfer the transparent lid from the front of the table to the back of the table"
+    },
+    {
+      "start": 19,
+      "end": 21,
+      "subtask": "place the transparent lid at the back of the table"
+    }
+  ],
+  "source_episode": "21307_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-05-29/Mon_May_29_19:05:58_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 22,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021309.json

@@ -0,0 +1,21 @@
+{
+  "episode": "chunk-021/episode_021309",
+  "task": "close the tap",
+  "raw_length": 182,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 20,
+      "subtask": "press the handle of the tap to close the water flow"
+    }
+  ],
+  "source_episode": "21309_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-17/Tue_Oct_17_14:01:47_2023/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 21,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}

annotations_gap0.6/chunk-021/episode_021311.json

@@ -0,0 +1,46 @@
+{
+  "episode": "chunk-021/episode_021311",
+  "task": "swap the spoons and forks in the two cups",
+  "raw_length": 276,
+  "video_path": null,
+  "subgoals": [
+    {
+      "start": 0,
+      "end": 9,
+      "subtask": "pick up the spoon in the left cup"
+    },
+    {
+      "start": 10,
+      "end": 11,
+      "subtask": "transfer the spoon from the left cup to the right cup"
+    },
+    {
+      "start": 12,
+      "end": 16,
+      "subtask": "place the spoon in the right cup"
+    },
+    {
+      "start": 17,
+      "end": 23,
+      "subtask": "pick up the fork in the right cup"
+    },
+    {
+      "start": 24,
+      "end": 25,
+      "subtask": "transfer the fork from the right cup to the left cup"
+    },
+    {
+      "start": 26,
+      "end": 30,
+      "subtask": "place the fork in the left cup"
+    }
+  ],
+  "source_episode": "21311_exterior_image_1_left",
+  "source_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_15:23:21_2024/trajectory.h5",
+  "camera_view": "exterior_image_1_left",
+  "length": 31,
+  "frame_stride": 9,
+  "fps": 15.0,
+  "pair_gap_seconds": 0.6,
+  "dataset": "droid"
+}