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and with the right arm, hang it onto the smooth rack." + ], + "num_links": 1 + }, + { + "key": "3f75f4924b3145f5ddcf12a06145bd5fac21ba84", + "file": "3f75f4924b3145f5ddcf12a06145bd5fac21ba84.pt", + "normalized_text": "Use your left arm to grab the cylindrical beige ceramic mug, rotate it, set it down, then hang on the metallic rack with smooth finish.", + "raw_texts": [ + "Use your left arm to grab the cylindrical beige ceramic mug, rotate it, set it down, then hang on the metallic rack with smooth finish." + ], + "num_links": 1 + }, + { + "key": "41f5770c21aa8ff7866d726af38f9936a01539d4", + "file": "41f5770c21aa8ff7866d726af38f9936a01539d4.pt", + "normalized_text": "With the left arm, grab the mug with glossy beige finish from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.", + "raw_texts": [ + "With the left arm, grab the mug with glossy beige finish from the table, rotate it, place it centrally, and with the 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+ "key": "52f50c2e2d305f9874033ab4834230b1d7891c07", + "file": "52f50c2e2d305f9874033ab4834230b1d7891c07.pt", + "normalized_text": "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the smooth rack.", + "raw_texts": [ + "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the smooth rack." + ], + "num_links": 1 + }, + { + "key": "54eaba5fe79ad77cf8dd512096bd8f2efe093938", + "file": "54eaba5fe79ad77cf8dd512096bd8f2efe093938.pt", + "normalized_text": "Lift the palm-sized mug glossy black body, give it a turn, and hang it onto the metallic rack with smooth finish.", + "raw_texts": [ + "Lift the palm-sized mug glossy black body, give it a turn, and hang it onto the metallic rack with smooth finish." + ], + "num_links": 1 + }, + { + "key": "564038d59bba3b05a5d18c5b1b249081ba006e8f", + "file": "564038d59bba3b05a5d18c5b1b249081ba006e8f.pt", + "normalized_text": "Use the left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.", + "raw_texts": [ + "Use the left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out." + ], + "num_links": 1 + }, + { + "key": "5865845542c8e77cc758dd248a027bf4b420c9cf", + "file": "5865845542c8e77cc758dd248a027bf4b420c9cf.pt", + "normalized_text": "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.", + "raw_texts": [ + "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack." + ], + "num_links": 1 + }, + { + "key": "5c519137f5c66a1343c4af11954bb740e32718a8", + "file": "5c519137f5c66a1343c4af11954bb740e32718a8.pt", + "normalized_text": "Lift the beige mug, twist it, set it back, and secure it onto the dark gray angled rack.", + "raw_texts": [ + "Lift the beige mug, twist it, set it back, and secure it onto the dark gray angled rack." + ], + "num_links": 1 + }, + { + "key": "63c315b5db2184ab09d73f0fb64059eb758c4ed2", + "file": "63c315b5db2184ab09d73f0fb64059eb758c4ed2.pt", + "normalized_text": "Grab the medium mug with blue design, rotate it, place it in the middle, and hang it onto the metal rack.", + "raw_texts": [ + "Grab the medium mug with blue design, rotate it, place it in the middle, and hang it onto the metal rack." + ], + "num_links": 1 + }, + { + "key": "6df30764a53ce6c146b6f2891590fe450eebbda2", + "file": "6df30764a53ce6c146b6f2891590fe450eebbda2.pt", + "normalized_text": "Lift the medium beige mug, turn it around, set it in the middle, and place it on the smooth dark gray rack.", + "raw_texts": [ + "Lift the medium beige mug, turn it around, set it in the middle, and place it on the smooth dark gray rack." + ], + "num_links": 1 + }, + { + "key": "79f9ba3f6b4c1dc031e2fe379af35f8f1b44e8ff", + "file": "79f9ba3f6b4c1dc031e2fe379af35f8f1b44e8ff.pt", + "normalized_text": "Use your left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.", + "raw_texts": [ + "Use your left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack." + ], + "num_links": 1 + }, + { + "key": "81c1792f0d7ff64098929742ffc2c24e0c27645f", + "file": "81c1792f0d7ff64098929742ffc2c24e0c27645f.pt", + "normalized_text": "Take the medium beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", + "raw_texts": [ + "Take the medium beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack." + ], + "num_links": 1 + }, + { + "key": "83971e2632d514724382e9737d90e0666cef7730", + "file": "83971e2632d514724382e9737d90e0666cef7730.pt", + "normalized_text": "Take the mug with curved handle, rotate it, set it in the middle, then hang it on the metal rack.", + "raw_texts": [ + "Take the mug with curved handle, rotate it, set it in the middle, then hang it on the metal rack." + ], + "num_links": 1 + }, + { + "key": "8c3cdd950bca2aab0648c5dafd131ab775064fd1", + "file": "8c3cdd950bca2aab0648c5dafd131ab775064fd1.pt", + "normalized_text": "Use the right arm to lift the medium beige mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down.", + "raw_texts": [ + "Use the right arm to lift the medium beige mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down." + ], + "num_links": 1 + }, + { + "key": "90f3e3431c1b2453a20465fbe2fa0b0c3767eccc", + "file": "90f3e3431c1b2453a20465fbe2fa0b0c3767eccc.pt", + "normalized_text": "Lift the light beige drinking mug from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.", + "raw_texts": [ + "Lift the light beige drinking mug from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish." + ], + "num_links": 1 + }, + { + "key": "918a3ecc1002f48bd9fe4a4c795ce3f9890c8bc8", + "file": "918a3ecc1002f48bd9fe4a4c795ce3f9890c8bc8.pt", + "normalized_text": "Use the left arm to grab the black mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.", + "raw_texts": [ + "Use the left arm to grab the black mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm." + ], + "num_links": 1 + }, + { + "key": "92a3669d1ad1a0d6671cabd088eb6ef717c3bfa7", + "file": "92a3669d1ad1a0d6671cabd088eb6ef717c3bfa7.pt", + "normalized_text": "Pick the cylindrical black mug up, twist it, place it back, then hang it onto the smooth dark gray rack.", + "raw_texts": [ + "Pick the cylindrical black mug up, twist it, place it back, then hang it onto the smooth dark gray rack." + ], + "num_links": 1 + }, + { + "key": "95a7ac79059993ccb92d6f09b14e491ec48bbd19", + "file": "95a7ac79059993ccb92d6f09b14e491ec48bbd19.pt", + "normalized_text": "Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "raw_texts": [ + "Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish." + ], + "num_links": 1 + }, + { + "key": "9a578d27fd497c9dff11ef5b33d2a2cd01ede93b", + "file": "9a578d27fd497c9dff11ef5b33d2a2cd01ede93b.pt", + "normalized_text": "Take the mug with round handle from the table, spin it, place it in the center, then hang it on the dark gray angled rack.", + "raw_texts": [ + "Take the mug with round handle from the table, spin it, place it in the center, then hang it on the dark gray angled rack." + ], + "num_links": 1 + }, + { + "key": "9f36a74dcb906663f8de4b4d5f4e9bf945c31896", + "file": "9f36a74dcb906663f8de4b4d5f4e9bf945c31896.pt", + "normalized_text": "With the left arm, grab the mug with prints from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.", + "raw_texts": [ + "With the left arm, grab the mug with prints from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods." + ], + "num_links": 1 + }, + { + "key": "a029bd0fd0b82b231c6afe17f80fd5410f00ea72", + "file": "a029bd0fd0b82b231c6afe17f80fd5410f00ea72.pt", + "normalized_text": "Use your left arm to grab the beige mug used for drinks, rotate it, set it down, then hang on the metallic rack with smooth finish.", + "raw_texts": [ + "Use your left arm to grab the beige mug used for drinks, rotate it, set it down, then hang on the metallic rack with smooth finish." + ], + "num_links": 1 + }, + { + "key": "a79d3d7a8e8c071adf5806661008fdb2dff8c9a0", + "file": "a79d3d7a8e8c071adf5806661008fdb2dff8c9a0.pt", + "normalized_text": "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "raw_texts": [ + "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the metallic angular rack with rod pair." + ], + "num_links": 1 + }, + { + "key": "c40bb4f1bf2abb2e594d2bb982c98d2acb5c07d8", + "file": "c40bb4f1bf2abb2e594d2bb982c98d2acb5c07d8.pt", + "normalized_text": "Pick the white mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm.", + "raw_texts": [ + "Pick the white mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm." + ], + "num_links": 1 + }, + { + "key": "c7ca2cf1602839b47bd86e926cb9a04f46c15ca4", + "file": "c7ca2cf1602839b47bd86e926cb9a04f46c15ca4.pt", + "normalized_text": "Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the angled rack with long and short rods.", + "raw_texts": [ + "Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the angled rack with long and short rods." + ], + "num_links": 1 + }, + { + "key": "c853ed67f4ec113d4befd215aefdd1a4e7ae4d78", + "file": "c853ed67f4ec113d4befd215aefdd1a4e7ae4d78.pt", + "normalized_text": "Take the medium mug with smooth texture, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.", + "raw_texts": [ + "Take the medium mug with smooth texture, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod." + ], + "num_links": 1 + }, + { + "key": "ca62ef51381007d30234bb9551dc09225a6adeb1", + "file": "ca62ef51381007d30234bb9551dc09225a6adeb1.pt", + "normalized_text": "Use your left arm to grab the brown medium-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", + "raw_texts": [ + "Use your left arm to grab the brown medium-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair." + ], + "num_links": 1 + }, + { + "key": "cf4905eadb5709da66c4584fb9ce4dfb028a02b2", + "file": "cf4905eadb5709da66c4584fb9ce4dfb028a02b2.pt", + "normalized_text": "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the rack with angular body.", + "raw_texts": [ + "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the rack with angular body." + ], + "num_links": 1 + }, + { + "key": "d07fbefe708a939fb9a450d431d81785da916a08", + "file": "d07fbefe708a939fb9a450d431d81785da916a08.pt", + "normalized_text": "Use your left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.", + "raw_texts": [ + "Use your left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack." + ], + "num_links": 1 + }, + { + "key": "e56a8d9b367cd9e2202bf6c5db34c6c206723085", + "file": "e56a8d9b367cd9e2202bf6c5db34c6c206723085.pt", + "normalized_text": "Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.", + "raw_texts": [ + "Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair." + ], + "num_links": 1 + }, + { + "key": "e7300e9088005b3e16abe6be970fefad8c71a609", + "file": "e7300e9088005b3e16abe6be970fefad8c71a609.pt", + "normalized_text": "Use one arm to grab the mug with logo design on side, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.", + "raw_texts": [ + "Use one arm to grab the mug with logo design on side, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack." + ], + "num_links": 1 + }, + { + "key": "ecfa777c2df37f3a1e001bdfcb86f916d5bc3925", + "file": "ecfa777c2df37f3a1e001bdfcb86f916d5bc3925.pt", + "normalized_text": "Use your left arm to pick the beige mug used for drinks, rotate it, set it down, and hang it onto the medium rack with protruding rods.", + "raw_texts": [ + "Use your left arm to pick the beige mug used for drinks, rotate it, set it down, and hang it onto the medium rack with protruding rods." + ], + "num_links": 1 + }, + { + "key": "efbeb977d618a52f6b6fce3916ed0f0bf7316a2c", + "file": "efbeb977d618a52f6b6fce3916ed0f0bf7316a2c.pt", + "normalized_text": "Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods.", + "raw_texts": [ + "Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods." + ], + "num_links": 1 + }, + { + "key": "f3d5efbbe47508e3311f213d2870e30ed37323e6", + "file": "f3d5efbbe47508e3311f213d2870e30ed37323e6.pt", + "normalized_text": "Lift the ceramic mug, give it a turn, and hang it onto the smooth rack.", + "raw_texts": [ + "Lift the ceramic mug, give it a turn, and hang it onto the smooth rack." + ], + "num_links": 1 + }, + { + "key": "f45490a7afdaf71c6728cc285f3c531b976e97d4", + "file": "f45490a7afdaf71c6728cc285f3c531b976e97d4.pt", + "normalized_text": "Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the smooth rack.", + "raw_texts": [ + "Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the smooth rack." + ], + "num_links": 1 + }, + { + "key": "f8ddd34ba8c59a9357ff556cd58e4cd5f2370996", + "file": "f8ddd34ba8c59a9357ff556cd58e4cd5f2370996.pt", + "normalized_text": "Take the mug with glossy surface from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.", + "raw_texts": [ + "Take the mug with glossy surface from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out." + ], + "num_links": 1 + } + ] +} \ No newline at end of file diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/episodes.jsonl b/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69e0799eb069610fab10901cf15042bbc8981cce --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/episodes.jsonl @@ -0,0 +1,50 @@ +{"episode_index": 0, "tasks": ["Pick the cylindrical black mug up, twist it, place it back, then hang it onto the smooth dark gray rack."], "length": 336, "action_config": [{"start_frame": 0, "end_frame": 336, "action_text": "Pick the cylindrical black mug up, twist it, place it back, then hang it onto the smooth dark gray rack.", "skill": ""}]} +{"episode_index": 1, "tasks": ["Use your left arm to grab the beige mug used for drinks, rotate it, set it down, then hang on the metallic rack with smooth finish."], "length": 330, "action_config": [{"start_frame": 0, "end_frame": 330, "action_text": "Use your left arm to grab the beige mug used for drinks, rotate it, set it down, then hang on the metallic rack with smooth finish.", "skill": ""}]} +{"episode_index": 2, "tasks": ["Lift the green mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair."], "length": 337, "action_config": [{"start_frame": 0, "end_frame": 337, "action_text": "Lift the green mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.", "skill": ""}]} +{"episode_index": 3, "tasks": ["Take the drinking mug shiny black exterior from the table, turn it, set it down, and attach it to the rack with angular body."], "length": 336, "action_config": [{"start_frame": 0, "end_frame": 336, "action_text": "Take the drinking mug shiny black exterior from the table, turn it, set it down, and attach it to the rack with angular body.", "skill": ""}]} +{"episode_index": 4, "tasks": ["Lift the ceramic mug, give it a turn, and hang it onto the smooth rack."], "length": 332, "action_config": [{"start_frame": 0, "end_frame": 332, "action_text": "Lift the ceramic mug, give it a turn, and hang it onto the smooth rack.", "skill": ""}]} +{"episode_index": 5, "tasks": ["Use your left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack."], "length": 336, "action_config": [{"start_frame": 0, "end_frame": 336, "action_text": "Use your left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.", "skill": ""}]} +{"episode_index": 6, "tasks": ["Use the left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out."], "length": 336, "action_config": [{"start_frame": 0, "end_frame": 336, "action_text": "Use the left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.", "skill": ""}]} +{"episode_index": 7, "tasks": ["With the left arm, grab the glossy black mug medium-sized for drinking from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack."], "length": 337, "action_config": [{"start_frame": 0, "end_frame": 337, "action_text": "With the left arm, grab the glossy black mug medium-sized for drinking from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.", "skill": ""}]} +{"episode_index": 8, "tasks": ["Grab the medium mug with blue design, rotate it, place it in the middle, and hang it onto the metal rack."], "length": 339, "action_config": [{"start_frame": 0, "end_frame": 339, "action_text": "Grab the medium mug with blue design, rotate it, place it in the middle, and hang it onto the metal rack.", "skill": ""}]} +{"episode_index": 9, "tasks": ["Use your left arm to grab the brown medium-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair."], "length": 335, "action_config": [{"start_frame": 0, "end_frame": 335, "action_text": "Use your left arm to grab the brown medium-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", "skill": ""}]} +{"episode_index": 10, "tasks": ["Take the white mug from the table, spin it, place it in the center, then hang it on the smooth rack."], "length": 331, "action_config": [{"start_frame": 0, "end_frame": 331, "action_text": "Take the white mug from the table, spin it, place it in the center, then hang it on the smooth rack.", "skill": ""}]} +{"episode_index": 11, "tasks": ["Lift the drinking mug shiny black exterior, turn it around, set it in the middle, and place it on the dark gray angled rack."], "length": 340, "action_config": [{"start_frame": 0, "end_frame": 340, "action_text": "Lift the drinking mug shiny black exterior, turn it around, set it in the middle, and place it on the dark gray angled rack.", "skill": ""}]} +{"episode_index": 12, "tasks": ["With the left arm, grab the mug with prints from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods."], "length": 331, "action_config": [{"start_frame": 0, "end_frame": 331, "action_text": "With the left arm, grab the mug with prints from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.", "skill": ""}]} +{"episode_index": 13, "tasks": ["Pick the white mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm."], "length": 327, "action_config": [{"start_frame": 0, "end_frame": 327, "action_text": "Pick the white mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm.", "skill": ""}]} +{"episode_index": 14, "tasks": ["Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack."], "length": 331, "action_config": [{"start_frame": 0, "end_frame": 331, "action_text": "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.", "skill": ""}]} +{"episode_index": 15, "tasks": ["Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods."], "length": 338, "action_config": [{"start_frame": 0, "end_frame": 338, "action_text": "Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods.", "skill": ""}]} +{"episode_index": 16, "tasks": ["Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish."], "length": 332, "action_config": [{"start_frame": 0, "end_frame": 332, "action_text": "Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish.", "skill": ""}]} +{"episode_index": 17, "tasks": ["With the left arm, grab the mug with glossy beige finish from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair."], "length": 330, "action_config": [{"start_frame": 0, "end_frame": 330, "action_text": "With the left arm, grab the mug with glossy beige finish from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.", "skill": ""}]} +{"episode_index": 18, "tasks": ["Use the right arm to lift the medium beige mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down."], "length": 329, "action_config": [{"start_frame": 0, "end_frame": 329, "action_text": "Use the right arm to lift the medium beige mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down.", "skill": ""}]} +{"episode_index": 19, "tasks": ["Take the mug with glossy surface from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out."], "length": 366, "action_config": [{"start_frame": 0, "end_frame": 366, "action_text": "Take the mug with glossy surface from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.", "skill": ""}]} +{"episode_index": 20, "tasks": ["Use your left arm to grab the ceramic mug, 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[{"start_frame": 0, "end_frame": 332, "action_text": "Use your left arm to pick the dark green ceramic cup, rotate it, set it down, and hang it onto the metal rack.", "skill": ""}]} +{"episode_index": 23, "tasks": ["Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the rack with angular body."], "length": 326, "action_config": [{"start_frame": 0, "end_frame": 326, "action_text": "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the rack with angular body.", "skill": ""}]} +{"episode_index": 24, "tasks": ["Pick the smooth black ceramic mug from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair."], "length": 339, "action_config": [{"start_frame": 0, "end_frame": 339, "action_text": "Pick the smooth black ceramic mug from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", "skill": ""}]} +{"episode_index": 25, "tasks": ["Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the angled rack with long and short rods."], "length": 333, "action_config": [{"start_frame": 0, "end_frame": 333, "action_text": "Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the angled rack with long and short rods.", "skill": ""}]} +{"episode_index": 26, "tasks": ["Lift the palm-sized mug glossy black body, give it a turn, and hang it onto the metallic rack with smooth finish."], "length": 343, "action_config": [{"start_frame": 0, "end_frame": 343, "action_text": "Lift the palm-sized mug glossy black body, give it a turn, and hang it onto the metallic rack with smooth finish.", "skill": ""}]} +{"episode_index": 27, "tasks": ["Take the medium beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack."], "length": 330, "action_config": [{"start_frame": 0, "end_frame": 330, "action_text": "Take the medium beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", "skill": ""}]} +{"episode_index": 28, "tasks": ["Take the cylindrical mug with curved handle with one arm, rotate it, and hang it onto the smooth dark gray rack."], "length": 378, "action_config": [{"start_frame": 0, "end_frame": 378, "action_text": "Take the cylindrical mug with curved handle with one arm, rotate it, and hang it onto the smooth dark gray rack.", "skill": ""}]} +{"episode_index": 29, "tasks": ["Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the smooth rack."], "length": 335, "action_config": [{"start_frame": 0, "end_frame": 335, "action_text": "Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the smooth rack.", "skill": ""}]} +{"episode_index": 30, "tasks": ["Take the medium 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it onto the smooth rack.", "skill": ""}]} +{"episode_index": 43, "tasks": ["Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair."], "length": 332, "action_config": [{"start_frame": 0, "end_frame": 332, "action_text": "Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.", "skill": ""}]} +{"episode_index": 44, "tasks": ["Pick the ceramic mug smooth outside using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm."], "length": 355, "action_config": [{"start_frame": 0, "end_frame": 355, "action_text": "Pick the ceramic mug smooth outside using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.", "skill": ""}]} +{"episode_index": 45, "tasks": ["Lift the light beige drinking mug from the table, rotate it, place it in the middle, and hang 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spin it, place it in the center, then hang it on the dark gray angled rack.", "skill": ""}]} +{"episode_index": 48, "tasks": ["Grab the light beige drinking mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out."], "length": 328, "action_config": [{"start_frame": 0, "end_frame": 328, "action_text": "Grab the light beige drinking mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", "skill": ""}]} +{"episode_index": 49, "tasks": ["Pick the ceramic mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods."], "length": 338, "action_config": [{"start_frame": 0, "end_frame": 338, "action_text": "Pick the ceramic mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods.", "skill": ""}]} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/episodes_ori.jsonl 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+{"task_index": 3, "task": "Take the drinking mug shiny black exterior from the table, turn it, set it down, and attach it to the rack with angular body."} +{"task_index": 4, "task": "Lift the ceramic mug, give it a turn, and hang it onto the smooth rack."} +{"task_index": 5, "task": "Use your left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack."} +{"task_index": 6, "task": "Use the left arm to grab the green drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out."} +{"task_index": 7, "task": "With the left arm, grab the glossy black mug medium-sized for drinking from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack."} +{"task_index": 8, "task": "Grab the medium mug with blue design, rotate it, place it in the middle, and hang it onto the metal rack."} +{"task_index": 9, "task": "Use your left arm to grab the brown medium-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair."} +{"task_index": 10, "task": "Take the white mug from the table, spin it, place it in the center, then hang it on the smooth rack."} +{"task_index": 11, "task": "Lift the drinking mug shiny black exterior, turn it around, set it in the middle, and place it on the dark gray angled rack."} +{"task_index": 12, "task": "With the left arm, grab the mug with prints from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods."} +{"task_index": 13, "task": "Pick the white mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm."} +{"task_index": 14, "task": "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack."} +{"task_index": 15, "task": "Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods."} +{"task_index": 16, "task": "Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish."} +{"task_index": 17, "task": "With the left arm, grab the mug with glossy beige finish from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair."} +{"task_index": 18, "task": "Use the right arm to lift the medium beige mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down."} +{"task_index": 19, "task": "Take the mug with glossy surface from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out."} +{"task_index": 20, "task": "Use your left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack."} +{"task_index": 21, "task": "Using your left arm, lift the cylindrical mug made of ceramic, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair."} +{"task_index": 22, "task": "Use your left arm to pick the dark green ceramic cup, rotate it, set it down, and hang it onto the metal rack."} +{"task_index": 23, "task": "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the rack with angular body."} +{"task_index": 24, "task": "Pick the smooth black ceramic mug from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair."} +{"task_index": 25, "task": "Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the angled rack with long and short rods."} +{"task_index": 26, "task": "Lift the palm-sized mug glossy black body, give it a turn, and hang it onto the metallic rack with smooth finish."} +{"task_index": 27, "task": "Take the medium beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack."} +{"task_index": 28, "task": "Take the cylindrical mug with curved handle with one arm, rotate it, and hang it onto the smooth dark gray rack."} +{"task_index": 29, "task": "Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the smooth rack."} +{"task_index": 30, "task": "Take the medium mug with smooth texture, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod."} +{"task_index": 31, "task": "Use the left arm to grab the black mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm."} +{"task_index": 32, "task": "Use your left arm to grab the cylindrical beige ceramic mug, rotate it, set it down, then hang on the metallic rack with smooth finish."} +{"task_index": 33, "task": "Use the right arm to lift the black mug with handle, rotate it, and attach it to the angled rack with long and short rods after setting it down."} +{"task_index": 34, "task": "Take the mug with blue print from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods."} +{"task_index": 35, "task": "Lift the beige mug, twist it, set it back, and secure it onto the dark gray angled rack."} +{"task_index": 36, "task": "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the metallic angular rack with rod pair."} +{"task_index": 37, "task": "Use the left arm to lift the mug for hot drinks, rotate it, put it down, then hook onto the metallic rack with smooth finish."} +{"task_index": 38, "task": "Use one arm to grab the mug with logo design on side, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack."} +{"task_index": 39, "task": "Use your left arm to pick the beige mug used for drinks, rotate it, set it down, and hang it onto the medium rack with protruding rods."} +{"task_index": 40, "task": "Take the mug with curved handle, rotate it, set it in the middle, then hang it on the metal rack."} +{"task_index": 41, "task": "Lift the medium beige mug, turn it around, set it in the middle, and place it on the smooth dark gray rack."} +{"task_index": 42, "task": "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the smooth rack."} +{"task_index": 43, "task": "Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair."} +{"task_index": 44, "task": "Pick the ceramic mug smooth outside using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm."} +{"task_index": 45, "task": "Lift the light beige drinking mug from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish."} +{"task_index": 46, "task": "Take the medium-sized smooth green Starbucks mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods."} +{"task_index": 47, "task": "Take the mug with round handle from the table, spin it, place it in the center, then hang it on the dark gray angled rack."} +{"task_index": 48, "task": "Grab the light beige drinking mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out."} +{"task_index": 49, "task": "Pick the ceramic mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods."} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/text_instruction_backup/episodes.jsonl b/data/aloha_clean/hanging_mug-aloha-agilex_clean_50/meta/text_instruction_backup/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac53d85bedddb40ded30a93473ffa397ad6f69bb --- /dev/null +++ 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