diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000379.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..463c6f2ebed5d438093fe5834e5c7d3ef8110d7a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000379.json @@ -0,0 +1,923 @@ +{ + "task_description": "抓取黄色杯子放入黄色碗并把黄色小刀放入黄色杯子里：\n准备开始移动：0%\n爪夹靠近黄色杯子：10%\n爪夹抓取黄色杯子：20%\n爪夹抓紧黄色杯子接近黄色碗：30%\n爪夹将黄色杯子放入黄色碗：40%\n爪夹松开黄色杯子落入黄色碗：50%\n爪夹靠近黄色小刀：60%\n爪夹抓取黄色小刀：70%\n爪夹抓紧黄色小刀接近黄色杯子；80%\n爪夹将黄色小刀放入黄色杯子：90%\n爪夹松开黄色小刀落入黄色杯子：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "correction_plan": "垂直下降移动到黄色杯子的正上方。接着落下爪夹靠近黄色杯子，接近黄色杯子后爪夹合拢抓取黄色杯子。抓紧黄色杯子垂直升高爪夹并向爪夹方向的左侧移动，直至黄色碗的正上方后将黄色杯子放入黄色碗，松开爪夹，使黄色杯子落入黄色碗后爪夹向爪夹方向的右侧移动，直至黄色小刀的正上方，接着落下爪夹靠近黄色小刀，接近黄色小刀后爪夹合拢抓取黄色小刀，抓紧黄色小刀垂直升高爪夹并向爪夹方向的左侧移动，直至黄色杯子的正上方后将黄色小刀放入黄色杯子，松开爪夹，使黄色小刀落入黄色杯子。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离黄色杯子，未开始移动。\n为完成抓取黄色杯子落入黄色碗并把黄色小刀落入黄色杯子里的任务应当：爪夹应垂直下降，移动到黄色杯子的正上方。", + "time": 0.593066, + "annotations": { + "bbox_1767595626120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767595626120_1767599926147_p0b5tfo7n", + "x": 0.35666660420736057, + "y": 0.6505925835503472, + "width": 0.06799999584960963, + "height": 0.14577777777777784 + } + ] + }, + "bbox_1767595638336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767595638336_1767599931043_lhh1byepr", + "x": 0.3196666064656612, + "y": 0.5575555419921875, + "width": 0.1039999936523441, + "height": 0.15822222222222224 + } + ] + }, + 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"继续向爪夹左侧的黄色碗接近，直至黄色碗的正上方后将黄色杯子放入黄色碗，松开爪夹，使黄色杯子落入黄色碗后爪夹向爪夹方向的右侧移动，直至黄色小刀的正上方，接着落下爪夹靠近黄色小刀，接近黄色小刀后爪夹合拢抓取黄色小刀，抓紧黄色小刀垂直升高爪夹并向爪夹方向的左侧移动，直至黄色杯子的正上方后将黄色小刀放入黄色杯子，松开爪夹，使黄色小刀落入黄色杯子。", + "error_success_analysis": "爪夹合拢继续夹紧黄色杯子，水平上接近了黄色碗。更加方便接近黄色碗。", + "frame": 149, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧黄色杯子，垂直升高并向爪夹左侧的黄色碗接近，缩短了与黄色碗的距离。因此进度提升为25%。", + "state_description": "爪夹合拢夹紧黄色杯子，水平上接近了黄色碗。\n为完成抓取黄色杯子落入黄色碗并把黄色小刀落入黄色杯子里的任务应当：继续向爪夹左侧的黄色碗接近，直至黄色碗的正上方后将黄色杯子放入黄色碗", + "time": 4.980434100235577, + "annotations": { + "point_1767595668584": { + "type": "point", + "instances": [ + { + "id": "point_1767595668584_1767600038596_hx4c6n21f", + "x": 0.4046666012776733, + "y": 0.6464444308810764 + } + ] + }, + "bbox_1767595649128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767595649128_1767600041898_a0lvrdio6", + "x": 0.4156666006062865, + "y": 0.6446666531032986, + "width": 0.0729999955444339, + "height": 0.15999999999999998 + } + ] + }, + "bbox_1767595626120": { + "type": "bbox", + 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"爪夹夹紧杯子，爪夹角度即将翻转，位于碗正上方。\n为完成抓取杯子后将物品倒入碗里的任务应当：爪夹向爪夹下方的杯子移动，同时调整爪夹的角度使其翻转与桌面，并移动到杯子的正上方。", + "time": 18.8864, + "annotations": { + "bbox_1767664062003": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664062003_1767666062959_azxqfcehg", + "x": 0.476, + "y": 0.7703703613281251, + "width": 0.14000000000000004, + "height": 0.2186666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度将杯子里的物品倒入碗中", + "correction_plan": "爪夹回升后向正前方移动，使杯子放回原位。", + "error_success_analysis": "爪夹移动到了碗正上方，将物品倒入碗中", + "frame": 760, + "progress": 80, + "progress_explanation": "已将杯子里的物品倒入碗中，因此提升为80%。", + "state_description": "爪夹夹紧杯子，正在翻转将物品倒入碗中", + "time": 25.3332, + "annotations": { + "bbox_1767664062003": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664062003_1767666069759_q7y54w9qv", + "x": 0.45899999999999996, + "y": 0.7668148057725694, + "width": 0.14800000000000005, + "height": 0.20266666666666677 + } + ] + }, + "bbox_1767664061867": { + "type": "bbox", + "instances": [ + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000793.json new file mode 100644 index 0000000000000000000000000000000000000000..790fa730f630a01f52921a464dbbcd89edaa146e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000793.json @@ -0,0 +1,305 @@ +{ + "task_description": "按下键盘右上角的按钮\n准备开始移动：0%\n爪夹接近按钮：20%\n爪夹触碰到按钮：50%\n爪夹准备按下按钮：70%\n爪夹按下按钮：90%\n爪夹向上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右后侧移动至按钮上方，向下移动，触碰到按钮，向下移动，按下按钮，向上移动。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成按下键盘右上角的按钮的任务应当：向右后侧移动至按钮上方，向下移动，触碰到按钮。", + "time": 0.20526898679753025, + "annotations": { + "point_1768791475396": { + "type": "point", + 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"point_1768791475232_1768791519139_mv13kplwg", + "x": 0.6663332723185258, + "y": 0.8225925835503473 + } + ] + } + } + }, + { + "time": 5.184512465241959, + "frame": 156, + "progress": 50, + "action_description": "爪夹稍微向下移动", + "state_description": "当前状态为爪夹触碰到按钮\n为了完成按下键盘右上角的按钮的任务应当：向下移动，按下按钮，向上移动。", + "progress_explanation": "爪夹触碰到按钮，进度50%", + "error_success_analysis": "爪夹向下移动正确，成功触碰到按钮", + "correction_plan": "向下移动，按下按钮，向上移动。", + "annotations": { + "point_1768791475232": { + "type": "point", + "instances": [ + { + "id": "point_1768791475232_1768791516797_h3egunhnj", + "x": 0.6693332721354204, + "y": 0.8421481391059028 + } + ] + } + } + }, + { + "time": 6.152209961052714, + "frame": 185, + "progress": 70, + "action_description": "爪夹轻微晃动并微微向下", + "state_description": "当前状态为爪夹准备按下按钮\n为了完成按下键盘右上角的按钮的任务应当：向下移动，按下按钮，向上移动。", + "progress_explanation": "爪夹准备按下按钮，进度70%", + "error_success_analysis": "爪夹向下移动正确，成功准备按下按钮", + "correction_plan": "向下移动，按下按钮，向上移动。", + "annotations": { + "point_1768791475232": { + "type": "point", + "instances": [ + { + "id": "point_1768791475232_1768791514267_9dx4wr0jy", + "x": 0.6633332725016313, + "y": 0.8457036946614583 + } + ] + } + } + }, + { + "time": 7.093515706977722, + "frame": 213, + "progress": 80, + "action_description": "爪夹微微向右移动", + "state_description": "当前状态为爪夹调整按下角度\n为了完成按下键盘右上角的按钮的任务应当：向下移动，按下按钮，向上移动。", + "progress_explanation": "爪夹调整按下角度，进度80%", + "error_success_analysis": "爪夹向右正确，成功调整角度", + "correction_plan": "向下移动，按下按钮，向上移动。", + "annotations": { + "point_1768791475232": { + "type": "point", + "instances": [ + { + "id": "point_1768791475232_1768791511475_a6bjlqg8x", + "x": 0.665333272379561, + "y": 0.8457036946614583 + } + ] + } + } + }, + { + "time": 7.823687453816746, + "frame": 235, + "progress": 90, + "action_description": "爪夹向下移动", + "state_description": "当前状态为爪夹按下按钮\n为了完成按下键盘右上角的按钮的任务应当：向上移动。", + "progress_explanation": "爪夹按下按钮，进度90%", + "error_success_analysis": "爪夹向下移动正确，成功按下按钮", + "correction_plan": "向上移动。", + "annotations": { + "point_1768791475396": { + "type": "point", + "instances": [ + { + "id": "point_1768791475396_1768791505420_epi1d177r", + "x": 0.7153332693278033, + "y": 0.8883703613281251 + } + ] + }, + "point_1768791475232": { + "type": "point", + "instances": [ + { + "id": "point_1768791475232_1768791507923_pp4tyluey", + "x": 0.665333272379561, + "y": 0.872370361328125 + } + ] + } + } + }, + { + "time": 8.533333, + "frame": 256, + "progress": 100, + "action_description": "爪夹向上移动", + "state_description": "当前状态为爪夹成功按下按钮", + "progress_explanation": "任务完成，进度100%", + "error_success_analysis": "爪夹向上正确，成功完成任务。", + "correction_plan": "", + "annotations": { + "point_1768791475396": { + "type": "point", + "instances": [ + { + "id": "point_1768791475396_1768791498763_f0i7n9ef4", + "x": 0.7683332660929403, + "y": 0.7805185139973959 + } + ] + }, + "point_1768791475232": { + "type": "point", + "instances": [ + { + "id": "point_1768791475232_1768791501083_wg8tu5xf7", + "x": 0.7113332695719439, + "y": 0.7337036946614585 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768791474212", + "name": "按钮", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768791475232", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768791475396", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000401.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..94b65f0cfadf058eebd243c5f0c8cb40a492c520 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000401.json @@ -0,0 +1,349 @@ +{ + "task_description": "按下适配器上开关\n准备开始移动：0%\n接近开关：20%\n触碰到开关：50%\n准备按下开关：70%\n按下开关：90%\n爪夹向上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "右侧移动至开关上方，向下移动，触碰到开关，继续向下移动，按下开关，向上移动。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成按下适配器上开关的任务应当：向右侧移动至开关上方，向下移动，触碰到开关。", + "time": 0.476792412311646, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794358707_8fjkjfo9k", + "x": 0.2903332952677432, + "y": 0.33962962510850697, + "width": 0.03599999780273451, + "height": 0.08355555555555559 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，触碰到开关，继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备接近开关", + "frame": 45, + "progress": 10, + "progress_explanation": "爪夹准备接近开关，进度10%", + "state_description": "当前状态为爪夹准备接近开关\n为了完成按下适配器上开关的任务应当：向右侧移动至开关上方，向下移动，触碰到开关。", + "time": 1.4934246803010176, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794347537_eed1adf17", + "x": 0.2833332956949893, + "y": 0.32303702799479167, + "width": 0.046999997131347816, + "height": 0.12088888888888892 + } + ] + }, + "point_1768794264124": { + "type": "point", + "instances": [ + { + "id": "point_1768794264124_1768794350642_6wuu3ujq1", + "x": 0.5033332822672556, + "y": 0.08659258355034723 + } + ] + }, + "point_1768794264899": { + "type": "point", + "instances": [ + { + "id": "point_1768794264899_1768794353184_5xq9hl1a8", + "x": 0.5153332815348339, + "y": 0.20392591688368056 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，触碰到开关，继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近开关", + "frame": 72, + "progress": 20, + "progress_explanation": "爪夹接近开关，进度20%", + "state_description": "当前状态为爪夹接近开关\n为了完成按下适配器上开关的任务应当：向右侧移动至开关上方，向下移动，触碰到开关。", + "time": 2.4154865047564944, + "annotations": { + "point_1768794264124": { + "type": "point", + "instances": [ + { + "id": "point_1768794264124_1768794329777_dn6i0une1", + "x": 0.4223332872111031, + "y": 0.2537036946614583 + } + ] + }, + "point_1768794264899": { + "type": "point", + "instances": [ + { + "id": "point_1768794264899_1768794340735_9s5n3n1wo", + "x": 0.43233328660075154, + "y": 0.3514814724392361 + } + ] + }, + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794343418_j8wu84w3q", + "x": 0.2883332953898135, + "y": 0.32303702799479167, + "width": 0.04999999694824235, + "height": 0.1137777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，触碰到开关，继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近开关", + "frame": 103, + "progress": 30, + "progress_explanation": "爪夹更加接近开关，进度30%", + "state_description": "当前状态为爪夹更加接近开关\n为了完成按下适配器上开关的任务应当：向下移动，触碰到开关。", + "time": 3.4439400781876035, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794318736_nbh2n1ssh", + "x": 0.285333295572919, + "y": 0.3479259168836806, + "width": 0.043999997314453275, + "height": 0.06399999999999997 + } + ] + }, + "point_1768794264124": { + "type": "point", + "instances": [ + { + "id": "point_1768794264124_1768794320914_rn2lfqya5", + "x": 0.3753332900797552, + "y": 0.2999259168836806 + } + ] + }, + "point_1768794264899": { + "type": "point", + "instances": [ + { + "id": "point_1768794264899_1768794323115_3u6ikw83d", + "x": 0.38833328928629823, + "y": 0.38881480577256944 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向下移动", + "correction_plan": "向下移动，触碰到开关，继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备触碰到开关", + "frame": 127, + "progress": 40, + "progress_explanation": "爪夹准备触碰到开关，进度40%", + "state_description": "当前状态为爪夹准备触碰到开关\n为了完成按下适配器上开关的任务应当：向下移动，触碰到开关。", + "time": 4.235967542783974, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794315914_bdwqtutel", + "x": 0.2823332957560244, + "y": 0.32837036132812497, + "width": 0.03999999755859389, + "height": 0.08533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功触碰到开关", + "frame": 155, + "progress": 50, + "progress_explanation": "爪夹触碰到开关，进度50%", + "state_description": "当前状态为爪夹触碰到开关\n为了完成按下适配器上开关的任务应当：继续向下移动，按下开关，向上移动。", + "time": 5.15802936723945, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794312490_01t6siwlk", + "x": 0.28933329532877833, + "y": 0.3354814724392361, + "width": 0.030999998107910275, + "height": 0.08177777777777781 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备按下开关", + "frame": 188, + "progress": 70, + "progress_explanation": "爪夹准备按下开关，进度70%", + "state_description": "当前状态为爪夹准备按下开关\n为了完成按下适配器上开关的任务应当：继续向下移动，按下开关，向上移动。", + "time": 6.257410773320981, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794309361_f1ue3vaet", + "x": 0.2883332953898135, + "y": 0.3532592502170139, + "width": 0.05599999658203143, + "height": 0.11022222222222221 + } + ] + } + } + }, + { + "action_description": "爪夹向左调整角度", + "correction_plan": "继续向下移动，按下开关，向上移动。", + "error_success_analysis": "爪夹调整角度正确", + "frame": 225, + "progress": 80, + "progress_explanation": "爪夹调整按下角度，进度80%", + "state_description": "当前状态为爪夹调整按下角度\n为了完成按下适配器上开关的任务应当：继续向下移动，按下开关，向上移动。", + "time": 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"frame": 294, + "progress": 90, + "progress_explanation": "爪夹按下按钮，进度90%", + "state_description": "当前状态为爪夹按下按钮\n为了完成按下适配器上开关的任务应当：向上移动。", + "time": 9.815623711283783, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794299633_tvih81h9u", + "x": 0.28133329581705957, + "y": 0.3088148057725695, + "width": 0.031999998046875124, + "height": 0.09066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "", + "error_success_analysis": "爪夹向上移动正确，成功完成任务", + "frame": 321, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹向上回到空中", + "time": 10.714042924855786, + "annotations": { + "bbox_1768794262301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768794262301_1768794289266_eyryq4ruz", + "x": 0.29533329496256744, + "y": 0.3307407362196181, + "width": 0.025999998413086044, + "height": 0.053333333333333344 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768794262301", + "name": "开关", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768794264124", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768794264899", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000117.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..6b548ea4fd9fae208831afc6db2e2f9fed1233ef --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000117.json @@ -0,0 +1,482 @@ +{ + "task_description": "抓取饮料放入不锈钢凹槽里：\n准备开始移动：0%\n爪夹靠近饮料：20%\n爪夹抓取饮料：40%\n爪夹抓紧饮料接近不锈钢凹槽：60%\n爪夹将饮料放入不锈钢凹槽：80%\n爪夹松开饮料落入不锈钢凹槽：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767062882658": { + "instances": [ + { + "height": 0.48000000000000004, + "id": "bbox_1767062882658_1767063028817_is86jhggg", + "width": 0.561, + "x": 0.248, + "y": 0.45155555555555554 + } + ], + "type": "bbox" + }, + "point_1767062938810": { + "instances": [ + { + "id": "point_1767062938810_1767062976330_xixqiypgt", + "x": 0.44499999999999995, + "y": 0.5617777777777777 + } + ], + "type": "point" + }, + "point_1767062947234": { + "instances": [ + { + "id": "point_1767062947234_1767063003585_1skpkfmtw", + "x": 0.7649999999999999, + "y": 0.6222222222222222 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，直至不锈钢凹槽的正上方后将饮料放入不锈钢凹槽，松开爪夹，使饮料落入不锈钢凹槽。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离饮料，未开始移动。\n为完成抓取饮料落入不锈钢凹槽里的任务应当：爪夹向爪夹方向的右后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。", + "time": 0.670933 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动，调整爪夹角度垂直于桌面。", + "annotations": { + "bbox_1767062865657": { + "instances": [ + { + "height": 0.26844444444444443, + "id": "bbox_1767062865657_1767065027023_66tbio35v", + "width": 0.10700000000000003, + "x": 0.563, + "y": 0.592 + } + ], + "type": "bbox" + }, + "bbox_1767062882658": { + "instances": [ + { + "height": 0.6222222222222223, + "id": "bbox_1767062882658_1767065016471_kpe30ypvo", + "width": 0.5349999999999999, + "x": 0.015, + "y": 0.32355555555555554 + } + ], + "type": "bbox" + }, + "point_1767062938810": { + "instances": [ + { + "id": "point_1767062938810_1767065046423_q2joi6vnv", + "x": 0.44400000000000006, + "y": 0.5706666666666667 + } + ], + "type": "point" + }, + "point_1767062947234": { + "instances": [ + { + "id": 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"#F44336", + "id": "point_1767062947234", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000358.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..0d369bddee7962e672ea99c1c057be7f5c6bad68 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.wrist_image_left/episode_000358.json @@ -0,0 +1,466 @@ +{ + "task_description": "抓取魔方软块放入木头盒里：\n准备开始移动：0%\n爪夹靠近魔方软块：20%\n爪夹抓取魔方软块：40%\n爪夹抓紧魔方软块接近木头盒：60%\n爪夹将魔方软块放入木头盒：80%\n爪夹松开魔方软块落入木头盒：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767146755020": { + "instances": [ + { + 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"当前为初始状态，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离魔方软块，未开始移动。\n为完成抓取魔方软块落入木头盒里的任务应当：爪夹向爪夹方向的后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的魔方软块正上方。", + "time": 0.4551889907216495 + }, + { + "action_description": "爪夹向爪夹方向的前方移动下降，调整爪夹角度。", + "annotations": { + "bbox_1767146755020": { + "instances": [ + { + "height": 0.1813333333333334, + "id": "bbox_1767146755020_1767166047113_e8n4at9ri", + "width": 0.11600000000000002, + "x": 0.588, + "y": 0.7442962782118056 + } + ], + "type": "bbox" + }, + "bbox_1767146772108": { + "instances": [ + { + "height": 0.45511111111111113, + "id": "bbox_1767146772108_1767166052089_7leuekf43", + "width": 0.192, + "x": 0.238, + "y": 0.39229627821180557 + } + ], + "type": "bbox" + }, + "point_1767146781004": { + "instances": [ + { + "id": "point_1767146781004_1767166055144_sezc1h0e5", + "x": 0.45, + "y": 0.6838518337673611 + } + ], + "type": "point" + }, + "point_1767146789532": { + "instances": [ + { + "id": "point_1767146789532_1767166057937_k5ut3e32h", + "x": 0.758, 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"爪夹角度垂直于桌面，处于魔方软块的正上方.\n为完成抓取魔方软块落入木头盒里的任务应当：爪夹重新下降并合拢抓取魔方软块，抓紧魔方软块垂直升高并向爪夹方向的左后方移动，直至木头盒的正上方", + "time": 10.704199 + }, + { + "action_description": "爪夹向上升起。", + "annotations": { + "bbox_1767146755020": { + "instances": [ + { + "height": 0.29688888888888887, + "id": "bbox_1767146755020_1767166159088_zdjvdxk5z", + "width": 0.17, + "x": 0.374, + "y": 0.2891851671006945 + } + ], + "type": "bbox" + }, + "bbox_1767146772108": { + "instances": [ + { + "height": 0.2844444444444444, + "id": "bbox_1767146772108_1767166167273_jgq0g56pr", + "width": 0.22400000000000003, + "x": 0.002, + "y": 0.7069629448784722 + } + ], + "type": "bbox" + }, + "point_1767146781004": { + "instances": [ + { + "id": "point_1767146781004_1767166170880_qvleq0141", + "x": 0.45099999999999996, + "y": 0.6518518337673611 + } + ], + "type": "point" + }, + "point_1767146789532": { + "instances": [ + { + "id": "point_1767146789532_1767166173600_jwmyh2d2y", + "x": 0.756, + "y": 0.6642962782118056 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新垂直下降，直至魔方软块正上方，接着落下爪夹靠近魔方软块，接近魔方软块后爪夹合拢抓取魔方软块。抓紧魔方软块垂直升高爪夹并向爪夹方向的左侧移动，直至木头盒的正上方后将魔方软块放入木头盒，松开爪夹，使魔方软块落入木头盒。", + "error_success_analysis": "与上一步相比，爪夹没有按原定方向下降然后合拢，而是向上升起，导致爪夹远离魔方软块", + "frame": 358, + "progress": 0, + "progress_explanation": "爪夹回到初始状态，爪夹张开，远离魔方软块，因此进度降至0%", + "state_description": "爪夹打开垂直于桌面，远离魔方软块。\n为完成抓取魔方软块落入木头盒里的任务应当：爪夹重新垂直下降，直至魔方软块正上方。", + "time": 11.933333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767146755020", + "name": "魔方软块" + }, + { + "color": "#FF9800", + "id": "bbox_1767146772108", + "name": "木头盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767146781004", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767146789532", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001030.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001030.json new file mode 100644 index 0000000000000000000000000000000000000000..4d67dc6369f30c568485ca04adaeb829dc28a625 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001030.json @@ -0,0 +1,443 @@ +{ + "task_description": "打开最右边上方橱柜的左侧门\n爪夹准备移动：0\n爪夹接近柜门把手：25%\n爪夹抓取柜门把手：50%\n爪夹抓取柜门把手拉开柜门：75%\n爪夹松开，柜门完全打开：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向上抬升，随后调整角度向正前方移动，接近柜门把手；爪夹调整角度并向前移动，随后爪夹合拢抓取柜门把手，爪夹夹住柜门把手先向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近柜门把手，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹向上抬升，随后调整角度向正前方移动，接近柜门把手。", + "time": 0.48643163168793957, + "annotations": { + "point_1768805640467": { + "type": "point", + "instances": [ + { + "id": "point_1768805640467_1768805847319_bbvgp53kw", + "x": 0.6592817910853158, + "y": 0.6334963262116022 + } + ] + }, + "point_1768805634846": { + "type": "point", + "instances": [ + { + "id": "point_1768805634846_1768805849503_tjcqin5u0", + "x": 0.6370944214884428, + "y": 0.6391312310490687 + } + ] + }, + "bbox_1768805626660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768805626660_1768805853415_c6hv4lygw", + "x": 0.6228311124618815, + "y": 0.16298177228315708, + "width": 0.034865866509372, + "height": 0.08452357256199612 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升并向正前方移动，随后调整角度", + "correction_plan": "爪夹调整角度向正前方移动，接近柜门把手；爪夹调整角度并向前移动，随后爪夹合拢抓取柜门把手，爪夹夹住柜门把手先向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "爪夹向正前方移动，缩短了与柜门把手的距离。", + "frame": 52, + "progress": 15, + "progress_explanation": "爪夹向正前方移动，水平上接近了柜门把手，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，接近柜子，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹向正前方移动，随后调整角度，接近柜门把手。", + "time": 1.716819732337727, + "annotations": { + "bbox_1768805626660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768805626660_1768805821048_n06hqy4wr", + "x": 0.6196614882337567, + "y": 0.15734686744569065, + "width": 0.03645067862343439, + "height": 0.08734102498072932 + } + ] + }, + "point_1768805634846": { + "type": "point", + "instances": [ + { + "id": "point_1768805634846_1768805823848_9m7ls2nxy", + "x": 0.6434336699446922, + "y": 0.354568536757015 + } + ] + }, + "point_1768805640467": { + "type": "point", + "instances": [ + { + "id": "point_1768805640467_1768805826008_eo7ptgbq6", + "x": 0.6561121668571911, + "y": 0.4052826802942126 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后调整角度并轻微向上抬升", + "correction_plan": "爪夹合拢抓取柜门把手，爪夹夹住柜门把手先向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "爪夹向正前方移动并抬升，接近了柜门把手，方便抓取", + "frame": 44, + "progress": 25, + "progress_explanation": "爪夹向正前方移动并抬升，接近了柜门把手，因此任务进度提升为25%。", + "state_description": "爪夹当前为张开状态，接近柜门把手，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹合拢抓取柜门把手。", + "time": 2.933333333333333, + "annotations": { + "point_1768805634846": { + "type": "point", + "instances": [ + { + "id": "point_1768805634846_1768805800641_jofy9d60n", + "x": 0.6735451001118771, + "y": 0.15452941502695747 + } + ] + }, + "point_1768805640467": { + "type": "point", + "instances": [ + { + "id": "point_1768805640467_1768805803073_1i63dbksv", + "x": 0.681469160682189, + "y": 0.19960865372668873 + } + ] + }, + "bbox_1768805626660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768805626660_1768805808760_gsaswxof3", + "x": 0.621246300347819, + "y": 0.14325960535202464, + "width": 0.04912917553593328, + "height": 0.10424573949312856 + } + ] + } + } + }, + { + "action_description": "爪夹轻微调整角度，并向前移动", + "correction_plan": "爪夹合拢抓取柜门把手，爪夹夹住柜门把手先向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "爪夹向正前方移动并调整角度，方便抓取柜门把手", + "frame": 70, + "progress": 40, + "progress_explanation": "爪夹向正前方移动并轻微调整角度，接近了柜门把手，因此任务进度提升为40%。", + "state_description": "爪夹当前为张开状态，接近柜门把手，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹合拢抓取柜门把手。", + "time": 4.666666666666667, + "annotations": { + "bbox_1768805626660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768805626660_1768805793952_gaajpxhcj", + "x": 0.6196614882337567, + "y": 0.16016431986442387, + "width": 0.03645067862343439, + "height": 0.08734102498072932 + } + ] + }, + "point_1768805634846": { + "type": "point", + "instances": [ + { + "id": "point_1768805634846_1768805796640_g6d7e1zw7", + "x": 0.6561121668571911, + "y": 0.19960865372668873 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动，随后爪夹合拢抓取柜门把手", + "correction_plan": "爪夹夹住柜门把手先向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "爪夹调整角度，更容易抓住柜门把手。", + "frame": 204, + "progress": 50, + "progress_explanation": "爪夹成功抓住柜门把手，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住柜门把手，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹夹住柜门把手向后移动，使柜门打开。", + "time": 6.8100541954926594, + "annotations": { + "point_1768805634846": { + "type": "point", + "instances": [ + { + "id": "point_1768805634846_1768805781297_b80uclr4m", + "x": 0.6355096093743804, + "y": 0.19397374888922234 + } + ] + }, + "bbox_1768805626660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768805626660_1768805787144_n4wpj3pcw", + "x": 0.6180766761196944, + "y": 0.16016431986442387, + "width": 0.03962030285155906, + "height": 0.09015847739946253 + } + ] + } + } + }, + { + "action_description": "爪夹夹住柜门把手向后方移动", + "correction_plan": "爪夹夹住柜门把手继续向后方移动，随后向左侧移动，使柜门拉开，爪夹松开，柜门完全打开。", + "error_success_analysis": "爪夹夹住柜门把手向后移动，柜门成功拉开了一点缝隙。", + "frame": 247, + "progress": 55, + "progress_explanation": "爪夹夹住柜门把手向后移动，柜门拉开了一点缝隙，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住柜门把手，为完成打开最右边上方橱柜的左侧门的任务，应当：爪夹夹住柜门把手继续向后方移动。", + "time": 8.24073803345753, + "annotations": { + "bbox_1768805626660": { + "type": 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{ + "id": "bbox_1767669884874", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767669885532", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767669885652", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001210.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001210.json new file mode 100644 index 0000000000000000000000000000000000000000..529f326e034d604b02c699cb9163510a77a9492e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001210.json @@ -0,0 +1,1506 @@ +{ + "task_description": "把锅盖拿下来放在桌子上，把番茄从锅里拿出来放在桌子上，然后用毛巾擦桌子\n爪夹准备移动：0\n爪夹接近锅盖：10%\n爪夹夹取锅盖：20%\n爪夹夹住锅盖接近桌子：30%\n爪夹松开，锅盖放在桌子上：40%\n爪夹接近番茄：50%\n爪夹夹取番茄：60%\n爪夹夹住番茄接近桌子：70%\n爪夹松开，番茄放在桌子上：80%\n爪夹抓取毛巾：90%\n爪夹抓住毛巾擦桌子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向正前方移动，随后下降，接近锅盖；爪夹继续下降，随后爪夹合拢抓取锅盖，爪夹向上抬升，随后向左前方移动，爪夹下降，将锅盖放在桌子上，随后爪夹松开；爪夹向后方移动并下降，接近番茄，爪夹继续下降，随后爪夹合拢抓取番茄，爪夹夹住番茄向上抬升，向右前方移动，随后向左侧移动接近桌子，爪夹下降，将番茄放在桌子上，爪夹松开，爪夹向右侧移动接近毛巾，随后爪夹下降合拢抓取毛巾，爪夹抓住毛巾来回晃动擦桌子。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近锅盖，因此任务进度为0", + "state_description": "爪夹当前为张开状态，没有接近锅盖，为完成把锅盖拿下来放在桌子上，把番茄从锅里拿出来放在桌子上，然后用毛巾擦桌子的任务，应当：爪夹向正前方移动，随后下降，接近锅盖。", + "time": 1.1099416617886493, + "annotations": { + "bbox_1768802341466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768802341466_1768802934518_6w7378hl6", + "x": 0.1743292841822325, + "y": 0.3771081561068806, + "width": 0.2916054289874749, + "height": 0.22257874107992312 + } + ] + 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} + }, + "correction_plan": "继续向爪夹右侧的紫色方块接近，直至紫色方块的正上方后将绿色方块放在紫色方块上，松开爪夹，使绿色方块落在紫色方块上。", + "error_success_analysis": "爪夹合拢夹紧绿色方块，水平上接近了紫色方块。更加方便接近紫色方块", + "frame": 504, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧绿色方块，垂直升高并向爪夹右侧的紫色方块接近，缩短了与紫色方块的距离。因此进度提升为50%。", + "state_description": "爪夹合拢夹紧绿色方块，水平上接近了紫色方块。\n为完成抓取绿色方块落在紫色方块上的任务应当：继续向爪夹右侧的紫色方块接近，直至紫色方块的正上方后将绿色方块放在紫色方块上。", + "time": 16.8036 + }, + { + "action_description": "爪夹夹紧绿色方块，向爪夹方向的正前方移动", + "annotations": { + "bbox_1767490394432": { + "instances": [ + { + "height": 0.0906666666666667, + "id": "bbox_1767490394432_1767496637306_60amxrbm0", + "width": 0.04400000000000004, + "x": 0.595, + "y": 0.5564444444444444 + } + ], + "type": "bbox" + }, + "bbox_1767490405744": { + "instances": [ + { + "height": 0.07644444444444447, + "id": "bbox_1767490405744_1767496642018_mz094fzp9", + "width": 0.06299999999999999, + "x": 0.584, + "y": 0.615111111111111 + } + ], + "type": "bbox" + }, + "point_1767490409897": { + "instances": [ + { + 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"#FF9800", + "id": "bbox_1767490405744", + "name": "紫色方块" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767490409897", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767490418656", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json new file mode 100644 index 0000000000000000000000000000000000000000..bf0b25f7f3b529aaa8e70d87cde2fcefcdc6e7e5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取锅盖放在锅上：\n准备开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓紧锅盖接近锅：60%\n爪夹将锅盖放在锅上：80%\n爪夹松开过锅盖落在锅上：100%", + "progress_points": [ + { + "action_description": "抓夹保持打开状态,开始移动", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.14755555555555558, + "id": "bbox_1767062388044_1767062451494_3ctr89z8w", + "width": 0.09700000000000006, + "x": 0.75, + "y": 0.7685925835503473 + } + ], + "type": "bbox" + }, + "bbox_1767062388532": { + "instances": [ + { + "height": 0.1777777777777777, + "id": "bbox_1767062388532_1767062455441_6ntfixn6k", + "width": 0.13600000000000004, + "x": 0.646, + "y": 0.5890370279947917 + } + ], + "type": "bbox" + }, + "point_1767062405134": { + "instances": [ + { + "id": "point_1767062405134_1767062446284_utish2vf3", + "x": 0.556, + "y": 0.514370361328125 + } + ], + "type": "point" + }, + "point_1767062405454": { + "instances": [ + { + "id": "point_1767062405454_1767062434837_vbk62mljg", + "x": 0.5940000000000001, + "y": 0.5410370279947917 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的前方移动,到达锅盖正上方后下降,抓取锅盖后竖直上升,向爪夹方向的左边移动,直至锅盖处于锅正上方。下降将锅盖放在锅上,松开爪夹。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态,开始移动,进度为0%", + "state_description": "当前状态为爪夹打开,开始移动,没有触碰锅盖\n为完成抓起锅盖便其落在锅上的任务应当:调整\n爪来角度,使其垂直于桌面,然后向爪夹方向的\n前方移动,准备抓取锅盖", + "time": 1.8742268505154638 + }, + { + "action_description": "爪夹保持打开状态，向前方开始移动", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.15644444444444458, + "id": "bbox_1767062388044_1767062480024_n2rn8nq96", + "width": 0.10499999999999998, + "x": 0.747, + "y": 0.7597036946614583 + } + ], + "type": "bbox" + }, + "bbox_1767062388532": { + "instances": [ + { + "height": 0.16888888888888892, + "id": "bbox_1767062388532_1767062475134_sk662xx7p", + "width": 0.125, + "x": 0.654, + "y": 0.5997036946614583 + } + ], + "type": "bbox" + }, + "point_1767062405134": { + "instances": [ + { + "id": 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"action_description": "爪夹略微向下后合拢，抓取到锅盖", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.1564444444444444, + "id": "bbox_1767062388044_1767062526348_lton4e0vt", + "width": 0.10299999999999994, + "x": 0.748, + "y": 0.7490370279947917 + } + ], + "type": "bbox" + }, + "bbox_1767062388532": { + "instances": [ + { + "height": 0.1564444444444445, + "id": "bbox_1767062388532_1767062530366_ybbxvga4b", + "width": 0.11900000000000004, + "x": 0.655, + "y": 0.6068148057725694 + } + ], + "type": "bbox" + }, + "point_1767062405134": { + "instances": [ + { + "id": "point_1767062405134_1767062512976_n2pxnl0it", + "x": 0.787, + "y": 0.7970370279947916 + } + ], + "type": "point" + }, + "point_1767062405454": { + "instances": [ + { + "id": "point_1767062405454_1767062517116_e1h7r28je", + "x": 0.795, + "y": 0.7988148057725695 + } + ], + "type": "point" + } + }, + "correction_plan": "竖直上升,向爪夹方向的左边移动,直至锅盖处于锅正上方。下降将锅盖放在锅上,松开爪夹。", + "error_success_analysis": "爪夹在锅盖中部竖直下降，成功抓取到锅盖。", + "frame": 221, + "progress": 40, + "progress_explanation": "当前爪夹抓取到锅盖，因此进度提升为40%", + "state_description": "当前爪夹闭合，垂直于桌面，锅盖已被爪夹抓取到。\n为完成抓起锅盖放在锅上的任务应当；竖直上升，然后向爪夹的左方移动。", + "time": 7.371958945360825 + }, + { + "action_description": "爪夹夹紧锅盖，向爪夹左方移动", + "correction_plan": "继续向爪夹左下方的锅接近，水平到达锅的正上方后将锅盖放在锅上，松开爪夹，使锅盖放在锅上。\n", + "error_success_analysis": "爪夹合拢继续夹紧锅盖，水平上接近了锅。更加方便接近锅", + "frame": 247, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧锅盖，并向爪夹下边的锅接近。缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧锅盖，水平上接近了锅。\n为完成抓取锅盖放在锅上的任务应当：继续向爪夹左方接近，水平到达锅的正上方后将锅盖放在锅上，松开爪夹，使锅盖放在锅上。", + "time": 8.228133, + "annotations": { + "bbox_1767062388044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062388044_1767072802962_7uidrk1gv", + "x": 0.744, + "y": 0.6121481391059028, + "width": 0.11100000000000003, + "height": 0.11911111111111118 + } + ] + }, + "bbox_1767062388532": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001852.json @@ -0,0 +1,404 @@ +{ + "task_description": "从罐子里抓取小玩具放在柜子上：\n准备开始移动：0%\n爪夹靠近罐子：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近柜子：60%\n爪夹将玩具放在柜子上：80%\n爪夹松开玩具落在柜子上：100%", + "progress_points": [ + { + "action_description": "抓夹保持打开状态,开始移动", + "correction_plan": "爪夹向爪夹正前方的罐子移动，同时调整爪夹的角度使其垂直与桌面，并移动到罐子的正上方。接着落下爪夹靠近玩具，接近罐子后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹右方的柜子接近，水平到达柜子的正上方后将玩具放在柜子上，松开爪夹，使玩具放在柜子上。", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态,开始移动,进度为0%", + "state_description": "当前状态为爪夹打开,开始移动,没有触碰玩具\n为完成抓起玩具便其落在柜子上的任务应当:调整\n爪来角度,使其垂直于桌面,然后向爪夹方向的\n前方移动,准备抓取玩具", + "time": 2.541666, + "annotations": { + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600291163_71xaxukrv", + "x": 0.603, + "y": 0.00948147243923611 + } + ] + }, + "point_1767598856845": { + "type": 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度。还未接近罐子。\n为完成抓取玩具使其放在柜子上的任务应当：爪夹向爪夹正前方的罐子移动，同时调整爪夹的角度使其垂直与桌面，并移动到罐子的正上方。", + "time": 4.391666, + "annotations": { + "bbox_1767598856109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598856109_1767600332189_lmrr6rokl", + "x": 0.42300000000000004, + "y": 0.11259258355034721, + "width": 0.549, + "height": 0.8817777777777778 + } + ] + }, + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600335641_0mb8bcswa", + "x": 0.7070000000000001, + "y": 0.07348147243923611 + } + ] + }, + "point_1767598856845": { + "type": "point", + "instances": [ + { + "id": "point_1767598856845_1767600338899_hmt1ovdc0", + "x": 0.642, + "y": 0.09481480577256944 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取玩具，抓紧玩具垂直升高爪夹并向爪夹右方的柜子接近，水平到达柜子的正上方后将玩具放在柜子上，松开爪夹，使玩具落在柜子上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了玩具，方便抓取。\n", + "frame": 148, + "progress": 20, + "progress_explanation": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004009.json new file mode 100644 index 0000000000000000000000000000000000000000..f1cf14664b51f9ee18fcfc2f0ffdadac60c8f2ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004009.json @@ -0,0 +1,451 @@ +{ + "task_description": "抓取瓶子放在桌面上：\n准备开始移动：0%\n爪夹靠近瓶子：20%\n爪夹抓取瓶子：40%\n爪夹抓紧瓶子接近桌面：60%\n爪夹将瓶子放在桌面：80%\n爪夹松开瓶子放在桌面上：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离瓶子，未开始移动。\n为完成抓取瓶子使其落入桌面的任务应当：爪夹向爪夹前方的瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到瓶子的正上方。", + "progress_explanation": 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"#F44336", + "id": "point_1767583885020", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004516.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004516.json new file mode 100644 index 0000000000000000000000000000000000000000..51998f88e5b1b7e7332962dd8329c9249c1e3cf0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004516.json @@ -0,0 +1,480 @@ +{ + "task_description": "从桌子上拿起笔，把它放进杯子里。从杯子里拿起笔，再把笔放回桌子上。从桌子上拿起笔，再把它放回杯子里。\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近杯子：60%\n爪夹将笔放入杯子：80%\n爪夹松开笔落入杯子：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入杯子的任务应当：爪夹向爪夹右方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子后夹起笔放回到桌子，从桌子上拿起笔，再把它放回杯子里。", + "annotations": { + "point_1768381915352": { + "type": "point", + "instances": [ + { + "id": "point_1768381915352_1768381937180_zzbudxzg0", + "x": 0.074, + "y": 0.5837036946614583 + } + ] + }, + "bbox_1768381914334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768381914334_1768381951904_wiyv4jdnd", + "x": 0.312, + "y": 0.9019259168836806, + "width": 0.06000000000000001, + "height": 0.09244444444444437 + } + ] + }, + "bbox_1768381914462": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768381914462_1768381956610_vovmne3p5", + "x": 0.278, + "y": 0.5819259168836806, + "width": 0.092, + "height": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004961.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004961.json new file mode 100644 index 0000000000000000000000000000000000000000..91f96c48135305036b1de2e6c3eed3ed047933d8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004961.json @@ -0,0 +1,160 @@ +{ + "task_description": "移动篮球到桌面右边：\n准备开始移动：0%\n爪夹靠近篮球：20%\n爪夹紧贴篮球：40%\n爪夹移动篮球到桌面中间：60%\n爪夹移动篮球到桌面右边：80%\n爪夹移开篮球位于桌面右边：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹左前方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。接着落下爪夹靠近篮球，接近篮球后爪夹紧贴篮球并推动篮球向桌面中间移动，爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "当前为初始状态，远离篮球，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离篮球，未开始移动。\n为完成移动篮球到桌面右边的任务应当：爪夹向爪夹左前方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。", + "time": 0.4573642118218753 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。接着落下爪夹靠近篮球，接近篮球后爪夹紧贴篮球并推动篮球向桌面中间移动，爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹移动篮球。", + "frame": 48, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便爪夹移动篮球。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近篮球。\n为完成移动篮球到桌面右边的任务应当：爪夹向爪夹左前方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。", + "time": 1.600780557092838 + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹紧贴篮球并推动篮球向桌面中间移动，爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度垂直向下移动，靠近了篮球，方便移动篮球。", + "frame": 96, + "progress": 20, + "progress_explanation": "爪夹角度垂直向下移动，靠近了篮球，方便移动篮球。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了篮球，准备紧贴篮球。\n为完成移动篮球到桌面右边的任务应当：爪夹紧贴篮球并推动篮球向桌面中间移动。", + "time": 3.201563440472185 + }, + { + "action_description": "爪夹紧贴篮球准备向右移动", + "correction_plan": "爪夹推动篮球向桌面中间移动，爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹向右移动篮球。", + "frame": 158, + "progress": 40, + "progress_explanation": "爪夹紧贴篮球准备向右移动。因此进度提升为40%", + "state_description": "爪夹紧贴篮球，爪夹角度接近垂直于桌面。\n为完成移动篮球到桌面右边的任务应当：爪夹推动篮球向桌面中间移动。", + "time": 5.259712861959918 + }, + { + "action_description": "爪夹推动篮球并垂直升高", + "correction_plan": "爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹向右移动篮球并垂直升高爪夹。方便后续移动篮球。", + "frame": 185, + "progress": 50, + "progress_explanation": "爪夹向右移动篮球并垂直升高爪夹。方便后续移动篮球。因此进度提升为50%", + "state_description": "爪夹向右移动篮球并垂直升高爪夹。\n为完成移动篮球到桌面右边的任务应当：爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "time": 6.174445938176688 + }, + { + "action_description": "爪夹向右移动篮球", + "correction_plan": "爪夹到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹移动篮球到桌面中间", + "frame": 252, + "progress": 60, + "progress_explanation": "爪夹移动篮球到桌面中间，爪夹升高。因此进度提升为60%", + "state_description": "爪夹移动篮球到桌面中间，爪夹升高。\n为完成移动篮球到桌面右边的任务应当：爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "time": 8.385050872367216 + }, + { + "action_description": "爪夹重新紧贴篮球准备向右移动", + "correction_plan": "爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹向右移动篮球。", + "frame": 288, + "progress": 40, + "progress_explanation": "爪夹紧贴篮球准备向右移动。因此进度提升为40%", + "state_description": "爪夹紧贴篮球，爪夹角度接近垂直于桌面。\n为完成移动篮球到桌面右边的任务应当：爪夹推动篮球向桌面右边移动。", + "time": 9.604694973989576 + }, + { + "action_description": "爪夹升高", + "correction_plan": "爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹推动篮球到达桌面右边，爪夹升高。", + "frame": 357, + "progress": 80, + "progress_explanation": "爪夹推动篮球到达桌面右边，爪夹升高。因此进度提升为80%", + "state_description": "爪夹向右移动篮球并升高爪夹。\n为完成移动篮球到桌面右边的任务应当：爪夹升高，使篮球位于桌面右边。", + "time": 11.8915276645315 + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。接着落下爪夹靠近篮球，接近篮球后爪夹紧贴篮球并推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹移动篮球。", + "frame": 425, + "progress": 10, + "progress_explanation": "爪夹向爪夹右方移动，爪夹角度接近垂直于桌面，方便爪夹移动篮球。因此进度降低为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近篮球。\n为完成移动篮球到桌面右边的任务应当：爪夹向爪夹右方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。", + "time": 14.178360355073426 + }, + { + "action_description": "爪夹向爪夹向右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹紧贴篮球并推动篮球向桌面中间移动，爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度垂直向下移动，靠近了篮球，方便移动篮球。", + "frame": 500, + "progress": 20, + "progress_explanation": "爪夹角度垂直向下移动，靠近了篮球，方便移动篮球。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了篮球，准备紧贴篮球。\n为完成移动篮球到桌面右边的任务应当：爪夹紧贴篮球并推动篮球向桌面右边移动。", + "time": 16.66 + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。接着落下爪夹靠近篮球，接近篮球后爪夹紧贴篮球并推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹移动篮球。", + "frame": 605, + "progress": 10, + "progress_explanation": "爪夹向爪夹右方移动，爪夹角度接近垂直于桌面，方便爪夹移动篮球。因此进度降低为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近篮球。\n为完成移动篮球到桌面右边的任务应当：爪夹向爪夹右方的篮球移动，同时调整爪夹的角度使其垂直于桌面，并移动到篮球的上方。", + "time": 20.1586 + }, + { + "action_description": "爪夹推动篮球并垂直升高", + "correction_plan": "爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "error_success_analysis": "爪夹向右移动篮球并垂直升高爪夹。方便后续移动篮球。", + "frame": 670, + "progress": 50, + "progress_explanation": "爪夹向右移动篮球并垂直升高爪夹。方便后续移动篮球。因此进度提升为50%", + "state_description": "爪夹向右移动篮球并垂直升高爪夹。\n为完成移动篮球到桌面右边的任务应当：爪夹继续推动篮球向桌面右边移动，到达桌面右边后，爪夹升高，使篮球位于桌面右边。", + "time": 22.3244 + }, + { + "action_description": "爪夹张开并垂直升高", + "correction_plan": "爪夹移动篮球到桌面右边的任务完成。", + "error_success_analysis": "爪夹张开，篮球位于桌面右边。", + "frame": 714, + "progress": 100, + "progress_explanation": "爪夹张开，篮球位于桌面右边。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹移动篮球到桌面右边的任务完成。", + "time": 23.8 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768815429811", + "name": "篮球", + "color": "#4CAF50" + }, + { + "id": "bbox_1768815430452", + "name": "桌面右边", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768815448453", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768815448639", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.wrist_image_left/episode_004136.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.wrist_image_left/episode_004136.json new file mode 100644 index 0000000000000000000000000000000000000000..a05b959a1d98fd31285925b4e46f1fa73a685113 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-004/observation.images.wrist_image_left/episode_004136.json @@ -0,0 +1,482 @@ +{ + "task_description": "抓取水壶放在桌子上：\n准备开始移动：0%\n爪夹靠近水壶：20%\n爪夹抓取水壶：40%\n爪夹抓紧水壶接近桌子：60%\n爪夹将水壶放在桌子：80%\n爪夹松开水壶落在桌子：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离水壶，未开始移动。\n为完成抓取水壶使其放在桌子的任务应当：爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。", + "progress_explanation": "当前为初始状态，远离水壶，未开始移动。进度 0%。\n", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。接着落下爪夹靠近水壶，接近水壶后爪夹合拢抓取水壶。抓紧水壶垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将水壶放在桌子上，松开爪夹，使水壶放在桌子上", + "annotations": { + "point_1768441267799": { + "type": "point", + "instances": [ + { + "id": "point_1768441267799_1768441304844_atsa3tmhy", + "x": 0.442, + "y": 0.6814814724392362 + } + ] + }, + "point_1768441267927": { + "type": "point", + "instances": [ + { + "id": "point_1768441267927_1768441307939_d7l4d91a4", + "x": 0.766, + "y": 0.6637036946614584 + } + ] + }, + "bbox_1768441266943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768441266943_1768441323727_je5h10f2c", + "x": 0.33799999999999997, + "y": 0.0005925835503472223, + "width": 0.66, + "height": 0.9902222222222222 + } + ] + } + } + }, + { + "time": 5.0292, + "frame": 151, + "progress": 5, + "action_description": "爪夹向爪夹右方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。还未接近水壶。\n为完成抓取水壶使其放在桌子的任务应当：爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。", + "progress_explanation": "爪夹向爪夹右方移动，爪夹角度与桌面呈 90 度。方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹的角度与桌面呈 90 度。水平上未接近水壶", + "correction_plan": "爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。接着落下爪夹靠近水壶，接近水壶后爪夹合拢抓取水壶。抓紧水壶垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将水壶放在桌子上，松开爪夹，使水壶放在桌子上", + "annotations": { + "point_1768441267927": { + "type": "point", + "instances": [ + { + "id": "point_1768441267927_1768441331223_d0mvivlzl", + "x": 0.764, + "y": 0.6601481391059028 + } + ] + }, + "point_1768441267799": { + "type": "point", + "instances": [ + { + "id": "point_1768441267799_1768441333541_1fjcb35b9", + "x": 0.442, + "y": 0.674370361328125 + } + ] + }, + "bbox_1768441266711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768441266711_1768441339880_ik7zbpigl", + "x": 0.616, + "y": 0.450370361328125, + "width": 0.192, + "height": 0.3271111111111112 + } + ] + }, + "bbox_1768441266943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768441266943_1768441351679_vbuh2n07x", + "x": 0.002, + "y": -0.0011851942274305556, + "width": 0.9, + "height": 0.9955555555555555 + } + ] + } + } + }, + { + "time": 10.6934, + "frame": 321, + "progress": 15, + "action_description": "爪夹向爪夹右方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。水平上接近了水壶。\n为完成抓取水壶使其放在桌子的任务应当：爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了水壶。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面呈 90 度，缩短了水壶之间的距离。方便后续抓取水壶。", + "correction_plan": "爪夹向爪夹右方的水壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到水壶的正上方。接着落下爪夹靠近水壶，接近水壶后爪夹合拢抓取水壶。抓紧水壶垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将水壶放在桌子上，松开爪夹，使水壶放在桌子上", + "annotations": { + "bbox_1768441266943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768441266943_1768441359203_t95wclem8", + "x": 0.003, + "y": 0.16414813910590279, + "width": 0.639, + "height": 0.8337777777777778 + } + ] + }, + "bbox_1768441266711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768441266711_1768441364916_k5vzjwwty", + "x": 0.40800000000000003, + "y": 0.3774814724392361, + "width": 0.14400000000000004, + "height": 0.4604444444444445 + } + ] + }, + "point_1768441267799": { + "type": "point", + "instances": [ + { + "id": "point_1768441267799_1768441367553_bdtn295d1", + "x": 0.44400000000000006, + "y": 0.6779259168836806 + } + ] + }, + "point_1768441267927": { + "type": "point", + "instances": [ + { + "id": "point_1768441267927_1768441369771_3z37idiju", + "x": 0.762, + "y": 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"爪夹夹紧杯子，垂直升高，向爪夹右方移动。", + "correction_plan": "继续向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在在，松开爪夹，使杯子放在桌子", + "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了桌子。更加方便接近桌子。", + "frame": 116, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹左边的桌子接近。缩短了与桌子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杯子，水平上接近了桌子。\n为完成抓取杯子使其落在桌子的任务应当：继续向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子", + "time": 3.8688, + "annotations": { + "bbox_1768463383838": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768463383838_1768464423214_gkkcl7xem", + "x": 0, + "y": 0.162370361328125, + "width": 0.658, + "height": 0.832 + } + ] + }, + "bbox_1768463383702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768463383702_1768464428142_kemp2k4yx", + "x": 0.426, + "y": 0.4272592502170139, + "width": 0.10800000000000001, + "height": 0.1617777777777778 + } + ] + }, + "point_1768463384624": { + "type": "point", + "instances": [ + { + "id": "point_1768463384624_1768464430176_5edgo9ktf", + "x": 0.49400000000000005, 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No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json new file mode 100644 index 0000000000000000000000000000000000000000..49be88da5cfca7cc53ef08587e84438e1c912663 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json @@ -0,0 +1,524 @@ +{ + "task_description": "抓取胡萝卜放入不锈钢盆里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓胡萝卜接近不锈钢盆：60%\n爪夹将胡萝卜放入不锈钢盆：80%\n爪夹松开胡萝卜落入不锈钢盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方后将胡萝卜放入不锈钢盆，松开爪夹，使胡萝卜落入不锈钢盆。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.3457731958762886, + "annotations": { + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767174998680_0g53a2wk8", + "x": 0.191, + "y": 0.03733333333333333 + } + ] + }, + "bbox_1767171035844": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171035844_1767175012816_5uekab99z", + "x": 0.45200000000000007, + "y": 0.5493333333333333, + "width": 0.06599999999999992, + "height": 0.10133333333333339 + } + ] + }, + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175016848_5bwgbii04", + "x": 0.379, + "y": 0.5635555555555556, + "width": 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"爪夹合拢。", + "correction_plan": "抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方后将胡萝卜放入不锈钢盆，松开爪夹，使胡萝卜落入不锈钢盆。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胡萝卜。", + "frame": 180, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到胡萝卜，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到胡萝卜，爪夹角度与桌面接近垂直。\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方", + "time": 5.999381443298969, + "annotations": { + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767175090143_0xtz4u91p", + "x": 0.418, + "y": 0.632888888888889 + } + ] + }, + "point_1767171057771": { + "type": "point", + "instances": [ + { + "id": "point_1767171057771_1767175093703_fneqp60x6", + "x": 0.442, + "y": 0.632888888888889 + } + ] + }, + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175099304_so15odzuv", + "x": 0.41500000000000004, + "y": 0.5475555555555556, + "width": 0.03499999999999996, + "height": 0.18666666666666665 + } + ] + }, + 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"error_success_analysis": "爪夹下降并打开爪夹，胡萝卜落到桌面", + "frame": 316, + "progress": 20, + "progress_explanation": "爪夹下降并打开爪夹，胡萝卜落到桌面，爪夹处于胡萝卜的正上方。因此进度降至为 20%。", + "state_description": "爪夹角度垂直于桌面，处于胡萝卜的正上方.\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：爪夹重新下降并合拢抓取胡萝卜，抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动", + "time": 10.52721649484536, + "annotations": { + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175149023_6yxzijlki", + "x": 0.38499999999999995, + "y": 0.4853333333333334, + "width": 0.03400000000000007, + "height": 0.14399999999999993 + } + ] + }, + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767175156927_d06qqa73h", + "x": 0.384, + "y": 0.5582222222222223 + } + ] + }, + "point_1767171057771": { + "type": "point", + "instances": [ + { + "id": "point_1767171057771_1767175160072_ut4sslunb", + "x": 0.42800000000000005, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767171035844": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005892.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005892.json new file mode 100644 index 0000000000000000000000000000000000000000..022ca09a0afa2b262f5ba76cbeaf9a3d8bf648ba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005892.json @@ -0,0 +1,484 @@ +{ + "task_description": "从银壶上取下壶盖将其放在前方。\n准备移动：0%\n爪夹靠近壶盖：20%\n爪夹抓取壶盖：40%\n爪夹抓住壶盖靠近前方：60%\n爪夹将壶盖放在前方：80%\n松开爪夹，壶盖放在前方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768611789999": { + "instances": [ + { + "height": 0.044444444444444446, + "id": 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"当前状态为爪夹打开，没有移动，没有接触壶盖。\n为完成从银壶上取下壶盖将其放在前方的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，准备抓取壶盖。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0.7473281472938145 + }, + { + "action_description": "爪夹向爪夹方向的左后方微调，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768611789999": { + "instances": [ + { + "height": 0.05333333333333338, + "id": "bbox_1768611789999_1768611951366_5tp5x1xlw", + "width": 0.05499999999999998, + "x": 0.346375, + "y": 0.3607083333333333 + } + ], + "type": "bbox" + }, + "bbox_1768611790407": { + "instances": [ + { + "height": 0.04444444444444448, + "id": "bbox_1768611790407_1768611958774_z72nue4oi", + "width": 0.053000000000000026, + "x": 0.417375, + "y": 0.3500416666666667 + } + ], + "type": "bbox" + }, + "point_1768611791094": { + "instances": [ + { + "id": "point_1768611791094_1768611946159_g4svxl7uc", + "x": 0.260375, + "y": 0.17226388888888888 + } + ], + "type": "point" + }, + "point_1768611791303": { + "instances": [ + { + "id": 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"name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768611791303", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json new file mode 100644 index 0000000000000000000000000000000000000000..563689710e0ce52a6e127c06fdd1ab387e8a3195 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取红色方块放在蓝色方块上：\n准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取和色方块：40%\n爪夹抓紧红色方块接近蓝色方块：60%\n爪夹将红色方块放在蓝色方块上：80%\n爪夹松开红色方块落在蓝色方块上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色积木，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离红色积木，未开始移动。\n为完成抓取红色方块使其放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近红色方块。\n", + "frame": 136, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈80度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近蓝色方块。\n为完成抓取红色方块使其放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 4.549999 + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "correction_plan": "爪夹向爪夹前方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹角度与桌面呈90度，缩短了红色方块之间的距离。方便后续抓取红色方块。", + "frame": 165, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色方块。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近蓝色方块。\n为完成抓取红色方块使其放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 5.496399 + }, + { + "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取红色方块，抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了红色方块，方便抓取。", + "frame": 192, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色方块。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了红色方块。准备抓取红色方块。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：爪夹合拢抓取红色方块，抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近", + "time": 6.394266 + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色方块。", + "frame": 213, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色方块。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到红色方块，爪夹角度与桌面接近垂直。\n为完成抓取红色方块放在蓝色方块上的任务应当：抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近", + "time": 7.097999 + }, + { + "action_description": "爪夹夹紧红色方块，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹后方的蓝色而方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹合拢继续夹紧红色方块，水平上接近了蓝色方块。更加方便接近蓝色方块。", + "frame": 235, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色方块，垂直升高并向爪夹后边的蓝色方块接近。缩短了与蓝色方块的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧红色方块，水平上接近了蓝色方块。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：继续向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "time": 7.825999 + }, + { + "action_description": "爪夹夹紧红色方块，向爪夹后方移动", + "correction_plan": "将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹移动到了蓝色方块正上方，方便将目标放在蓝色方块上。", + "frame": 256, + "progress": 60, + "progress_explanation": "爪夹夹紧红色方块，到了爪夹后方的蓝色方块正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，位于蓝色方块正上方。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "time": 8.541866 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "红色方块放在蓝色方块上，方便红色方块放在蓝色方块上。", + "frame": 277, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，红色方块插入到对应孔洞。因此进度提升为 80%。", + "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，红色方块放在蓝色方块上。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：松开爪夹，使红色方块放在蓝色方块上。", + "time": 9.233466 + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色积木放在蓝色积木上。", + "frame": 332, + "progress": 100, + "progress_explanation": "爪夹张开，红色积木放在蓝色积木上，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开红色方块放在蓝色方块上的任务目标完成。", + "time": 11.065599 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005001.json new file mode 100644 index 0000000000000000000000000000000000000000..5b166d439b9fde16f48406c73bc0521331f6ffc3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005001.json @@ -0,0 +1,509 @@ +{ + "task_description": "打开最右侧的下柜门。\n准备移动：0%\n爪夹靠近最右侧的下柜门：20%\n爪夹接近下柜门的门把手：40%\n爪夹抓住最右侧的下柜门把手：60%\n爪夹抓住门把手向外拉：80%\n松开爪夹，打开最右侧的下柜门：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768614075099": { + "instances": [ + { + "height": 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+ }, + { + "action_description": "爪夹向爪夹方向的左侧移动并调整爪夹角度。", + "annotations": { + "bbox_1768614075099": { + "instances": [ + { + "height": 0.09777777777777791, + "id": "bbox_1768614075099_1768614307370_bgiurtd0w", + "width": 0.10300000000000002, + "x": 0.536375, + "y": 0.7571527777777778 + } + ], + "type": "bbox" + }, + "point_1768614114618": { + "instances": [ + { + "id": "point_1768614114618_1768614300706_uws8db5n5", + "x": 0.445375, + "y": 0.5935972222222222 + } + ], + "type": "point" + }, + "point_1768614114962": { + "instances": [ + { + "id": "point_1768614114962_1768614297578_bzqju0lw0", + "x": 0.777375, + "y": 0.628263888888889 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。爪夹继续向爪夹方向的左下方移动，到达最右侧下柜门的门把手的前方，向爪夹方向的前方移动爪夹，抓住最右侧下柜门的门把手，爪夹向爪夹方向的后方移动，拉动下柜门。松开爪夹，打开最右侧的下柜门。", + "error_success_analysis": "爪夹向爪夹方向的左方旋转，水平方向上成功接近最右侧的下柜门，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 74, + "progress": 5, + "progress_explanation": "当前爪夹在水平距离上略微接近最右侧的下柜门并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，与最右侧的下柜门的水平距离略微缩短。\n为完成打开最右侧的下柜门的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，准备抓取最右侧的下柜门。", + "time": 2.465707635141837 + }, + { + "action_description": "爪夹向爪夹方向的左侧调整爪夹角度。", + "annotations": { + "bbox_1768614075099": { + "instances": [ + { + "height": 0.12266666666666658, + "id": "bbox_1768614075099_1768614319290_uc7u753w4", + "width": 0.10500000000000007, + "x": 0.741375, + "y": 0.7367083333333334 + } + ], + "type": "bbox" + }, + "point_1768614114618": { + "instances": [ + { + "id": "point_1768614114618_1768614322355_ku8mglsdx", + "x": 0.446375, + "y": 0.5935972222222222 + } + ], + "type": "point" + }, + "point_1768614114962": { + "instances": [ + { + "id": "point_1768614114962_1768614324747_5i00p9916", + "x": 0.775375, + "y": 0.627375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。爪夹继续向爪夹方向的左下方移动，到达最右侧下柜门的门把手的前方，向爪夹方向的前方移动爪夹，抓住最右侧下柜门的门把手，爪夹向爪夹方向的后方移动，拉动下柜门。松开爪夹，打开最右侧的下柜门。", + "error_success_analysis": "爪夹向爪夹方向的左方旋转，水平方向上成功接近最右侧的下柜门，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 119, + "progress": 10, + "progress_explanation": "当前爪夹在水平距离上更加接近最右侧的下柜门并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与最右侧的下柜门的水平距离略微缩短。\n为完成打开最右侧的下柜门的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，准备抓取最右侧的下柜门。", + "time": 3.953 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768614075099": { + "instances": [ + { + "height": 0.44622222222222224, + "id": "bbox_1768614075099_1768614338338_5j4rud24h", + "width": 0.3120000000000001, + "x": 0.686375, + "y": 0.547375 + } + ], + "type": "bbox" + }, + "point_1768614114618": { + "instances": [ + { + "id": "point_1768614114618_1768614332370_u9ii50o11", + "x": 0.4443750000000001, + "y": 0.5989305555555556 + } + ], + "type": "point" + }, + "point_1768614114962": { + "instances": [ + { + "id": "point_1768614114962_1768614329882_54a1a7o99", + "x": 0.777375, + "y": 0.6291527777777778 + } + ], + "type": "point" + } + }, + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005207.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005207.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1116861df86d0f8245e9698ac47ddcc9a0714e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.wrist_image_left/episode_005207.json @@ -0,0 +1,1572 @@ +{ + "task_description": "从右侧黑色锅中取出玻璃锅盖放在左侧空桌面，将灰色量勺放入黑色锅中。\n准备移动：0%\n爪夹从右侧黑色锅中抓取玻璃锅盖：25%\n爪夹将玻璃锅盖放在左侧空桌面：50%\n爪夹抓取灰色量勺：75%\n松开爪夹，将灰色量勺放在黑色锅中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶状态，准备移动。", + "annotations": { + "bbox_1768611883271": { + "instances": [ + { + "height": 0.22933333333333333, + "id": "bbox_1768611883271_1768612409653_ecjglvsxx", + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..a207097246d6efd7fe4e729787cb8ea99b832314 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000024.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓起绿色半圆柱体使其放在桌面上:\n开始移动:0%\n爪夹靠近绿色半圆柱:20%\n爪夹抓取绿色半圆柱:40%\n爪夹抓住绿色半圆柱靠近桌面:60%\n爪夹抓住绿色半圆柱接近桌面:80%\n爪夹松开，绿色半圆柱放在桌面上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。\n", + "annotations": { + "bbox_1766800161664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800161664_1766998124216_wwqmhyuzj", + "x": 0.5195000000000001, + "y": 0.21155555555555555, + "width": 0.03399999999999999, + "height": 0.0568888888888889 + } + ] + }, + "bbox_1766800163160": { + "type": "bbox", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf217d940fcaa9fa3189a573e75298acf2258de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000069.json @@ -0,0 +1,465 @@ +{ + "task_description": "关闭门:\n准备开始移动:0%\n爪夹靠近门:20%\n爪夹推动门:40%\n爪夹推动门接近门口:60%\n爪夹推动门靠近门口:80%\n门完全关闭:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1766807090633": { + "instances": [ + { + "height": 0.9635555555555555, + "id": "bbox_1766807090633_1766998265176_ov84x9xfp", + "width": 0.164, + "x": 0.1605, + "y": 0.0017777777777777779 + } + ], + "type": "bbox" + }, + "point_1766807098545": { + "instances": [ + { + "id": "point_1766807098545_1767173595332_ejiiq8gpp", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000319.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..fb28a2aaafb99d069ba8a0c7f134cb8b07020b0e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000319.json @@ -0,0 +1,586 @@ +{ + "task_description": "抓取碗上的盖子使其放在桌子上:\n开始移动:0%\n爪夹靠近碗上的盖子:20%\n爪夹抓取碗上的盖子:40%\n爪夹抓住碗上的盖子接近桌子:60%\n爪夹抓住碗上的盖子靠近桌子:80%\n爪夹松开，碗上的盖子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，直至碗上的盖子的正前方，抓取碗上的盖子。后上升，向爪夹方向的左侧移动，直至碗上的盖子处于桌子正上方。下降将碗上的盖子放在桌子上，爪夹张开。", + "error_success_analysis": "", + 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"time": 6.271450975039001, + "annotations": { + "point_1766995290298": { + "type": "point", + "instances": [ + { + "id": "point_1766995290298_1766995461657_r01mva9x1", + "x": 0.7575000000000001, + "y": 0.672 + } + ] + }, + "point_1766995290650": { + "type": "point", + "instances": [ + { + "id": "point_1766995290650_1766995475314_stp045apv", + "x": 0.8025, + "y": 0.7715555555555556 + } + ] + }, + "bbox_1766995289106": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995289106_1766995701329_u41p21pvm", + "x": 0.5915000000000001, + "y": 0.6044444444444446, + "width": 0.20599999999999996, + "height": 0.1617777777777778 + } + ] + }, + "bbox_1766995289490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995289490_1766995729361_28a2qcpup", + "x": 0.1425, + "y": 0.6737777777777777, + "width": 0.65, + "height": 0.3199999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，爪夹左接触碗上的盖子，抓取碗上的盖子。", + "correction_plan": "爪夹上升，向爪夹方向的左侧移动，直至碗上的盖子处于桌子正上方。下降将碗上的盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，爪夹左接触碗上的盖子，抓取碗上的盖子。", + "frame": 225, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到碗上的盖子，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，爪夹已抓取碗上的盖子。\n为完成抓起碗上的盖子将其放在桌子上的任务应当:爪夹上升，向爪夹方向的左侧移动，直至碗上的盖子处于桌子正上方。", + "time": 7.4874228201030935, + "annotations": { + "point_1766995290298": { + "type": "point", + "instances": [ + { + "id": "point_1766995290298_1766995482241_xpum708c6", + "x": 0.7535000000000001, + "y": 0.6773333333333333 + } + ] + }, + "bbox_1766995289106": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995289106_1766995687961_7jjawjbyt", + "x": 0.5885, + "y": 0.5973333333333333, + "width": 0.20900000000000007, + "height": 0.14755555555555563 + } + ] + }, + "bbox_1766995289490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995289490_1766995756993_dktlgx79m", + "x": 0.16550000000000004, + "y": 0.7075555555555555, + "width": 0.633, + "height": 0.2559999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹抓住碗上的盖子上升，向爪夹方向的左侧略微移动。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至桌子的正上方。下降将碗上的盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住碗上的盖子上升，向爪夹方向的左侧略微移动，在水平方向上略微接近桌子。", + "frame": 317, + "progress": 50, + "progress_explanation": "爪夹抓住碗上的盖子上升，向爪夹方向的左侧略微移动，在水平方向上略微接近桌子，因此进度提升至50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住碗上的盖子，在水平方向上略微接近桌子。\n为完成抓起碗上的盖子将其放在桌子上的任务应当:爪夹向爪夹方向的左侧移动，直至桌子的正上方。", + "time": 10.56391075351014, + "annotations": { + "point_1766995290298": { + "type": "point", + "instances": [ + { + "id": "point_1766995290298_1766995486682_71rvk92kc", + "x": 0.7755, + "y": 0.5475555555555556 + } + ] + }, + "point_1766995290650": { + "type": "point", + "instances": [ + { + "id": "point_1766995290650_1766995559554_vdqan92s4", + "x": 0.8154999999999999, + "y": 0.5635555555555556 + } + ] + }, + "bbox_1766995289106": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995289106_1766995665449_qjnslzx4a", + "x": 0.6655, + 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[ + { + "id": "point_1766995290298", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766995290650", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000356.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..803172a0a4a104d1fef95162a726144e3c5016cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000356.json @@ -0,0 +1,524 @@ +{ + "task_description": "抓起笔使其放入碗中:\n开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近碗:60%\n爪夹将笔放入碗:80%\n爪夹松开，笔落入碗中:100%", + "progress_points": [ + { + "action_description": 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"color": "#4CAF50", + "id": "bbox_1766974219294", + "name": "笔" + }, + { + "color": "#FF9800", + "id": "bbox_1766974219734", + "name": "杯子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766974231294", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766974231766", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000898.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000898.json new file mode 100644 index 0000000000000000000000000000000000000000..347e6acd046471cf240f410292ff52be3f20dcfa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000898.json @@ -0,0 +1,718 @@ +{ + "task_description": "抓住银色的碗和红色杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近银色的碗和红色杯子:20%\n爪夹抓取银色的碗和红色杯子:40%\n爪夹抓住银色的碗和红色杯子靠近桌子:60%\n爪夹抓住银色的碗和红色杯子放在桌子:80%\n爪夹松开，银色的碗和红色杯子放在桌子上:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1767003095549": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767003095549_1767056689361_pj1f1dz5s", + "x": 0.6375, + "y": 0.45866666666666667, + "width": 0.13200000000000003, + "height": 0.2097777777777778 + } + ] + }, + "bbox_1767003095941": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767003095941_1767057542184_xh6i5w63o", + "x": 0.38850000000000007, + "y": 0.3573333333333333, + "width": 0.5679999999999998, + "height": 0.4942222222222223 + } + ] + }, + "point_1767003112013": { + "type": "point", + "instances": [ + { + "id": "point_1767003112013_1767174030524_5nurkplrb", + "x": 0.7294871794871794, + "y": 0.015954415954415938 + } + ] + }, + "point_1767003112429": { + "type": "point", + "instances": [ + 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} + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001383.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001383.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6bcbedef2564ddfc2b9e796a42fb33f722f27a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001383.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓起透明塑料容器使其放在水槽中:\n开始移动:0%\n爪夹靠近透明塑料容器:20%\n爪夹抓取透明塑料容器:40%\n爪夹抓住透明塑料容器靠近水槽:60%\n爪夹抓住透明塑料容器接近水槽:80%\n爪夹松开，透明塑料容器放在水槽中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": 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"correction_plan": "爪夹上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹合拢，抓取到上面干燥器里的黑色衣服。", + "frame": 288, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到上面干燥器里的黑色衣服，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，爪夹已抓取到上面干燥器里的黑色衣服。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器。", + "time": 9.60467334587629, + "annotations": {} + }, + { + "action_description": "爪夹抬升，向爪夹方向的后侧略微移动。", + "correction_plan": "爪夹上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧上面干燥器里的黑色衣服，向爪夹方向的后侧移动，成功在水平方向上接近干燥器口。", + "frame": 341, + "progress": 60, + "progress_explanation": "爪夹已抓住上面干燥器里的黑色衣服，并在水平方向上开始接近干燥器口，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹在水平方向上接近干燥器口。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器。", + "time": 11.359998482885414, + "annotations": { + "point_1767082778538": { + "type": "point", + "instances": [ + { + "id": "point_1767082778538_1767082913842_cjzbuudx5", + "x": 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"name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767082778906", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001761.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001761.json new file mode 100644 index 0000000000000000000000000000000000000000..b12d46244fb75b823977ebad9877dc013287eee8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001761.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓起杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近桌子:60%\n爪夹抓住杯子靠近桌子:80%\n爪夹松开，杯子放在桌子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。竖直下降，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰杯子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。", + "time": 0.3854222293333333, + "annotations": { + "point_1767075404467": { + "type": "point", + "instances": [ + { + "id": "point_1767075404467_1767077581016_uirlpifwf", + "x": 0.40650000000000003, + "y": 0.112 + } + ] + }, + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077583504_7bvetato5", + "x": 0.47350000000000003, + "y": 0.16177777777777777 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077680328_c84se25mb", + "x": 0.5575, + "y": 0.3324444444444445, + "width": 0.07599999999999989, + "height": 0.22933333333333333 + } + ] + }, + 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"action_description": "爪夹下降。", + "correction_plan": "爪夹合拢，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹下降，在垂直方向上接近杯子。", + "frame": 161, + "progress": 20, + "progress_explanation": "当前爪夹在杯子的正后方，已接近笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹在杯子的正后方。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹合拢，抓取杯子。", + "time": 5.373436525257731, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077595904_6ri0vfarm", + "x": 0.5755, + "y": 0.44977777777777783 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077724984_seumywnxk", + "x": 0.5525, + "y": 0.32533333333333336, + "width": 0.075, + "height": 0.24355555555555558 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077880704_guwgrfmpx", + "x": 0.2445, + "y": 0.3164444444444445, + "width": 0.75, + "height": 0.6666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹合拢，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹位于杯子正后方，爪夹向爪夹方向的前方移动，使杯子与爪夹呈90度夹角，更方便抓取。", + "frame": 191, + "progress": 35, + "progress_explanation": "较上一阶段相比，爪夹向爪夹方向的前方移动，使杯子与爪夹呈90度夹角，更方便抓取。因此进度提升至35%。", + "state_description": "当前状态为爪夹张开，爪夹位于杯子正后方。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹合拢，抓取杯子。", + "time": 6.359466783999999, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077600064_0vnp9dq1a", + "x": 0.5565, + "y": 0.46755555555555556 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077740368_xrzlx2ecj", + "x": 0.5255, + "y": 0.3111111111111111, + "width": 0.09300000000000005, + "height": 0.2524444444444444 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077890472_6f5xzo20e", + "x": 0.2395, + "y": 0.30933333333333335, + "width": 0.7530000000000001, + "height": 0.6773333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹略微向爪夹方向的后移动，爪夹合拢，抓取到杯子。", + "correction_plan": "爪夹上升，爪夹向爪夹方向的左前方移动，直至桌子的正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹合拢，抓取到杯子。", + "frame": 262, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到杯子，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，爪夹已抓取到杯子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹上升，爪夹向爪夹方向的左前方移动，直至桌子的正上方。", + "time": 8.72601390670103, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077604280_ulr2ne1mg", + "x": 0.5815, + "y": 0.4355555555555556 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077754800_m66buhx5r", + "x": 0.5595, + "y": 0.30933333333333335, + "width": 0.08200000000000003, + "height": 0.25244444444444447 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": 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+ "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077909984_fvfo1tcbh", + "x": 0.2415, + "y": 0.29866666666666664, + "width": 0.7540000000000001, + "height": 0.6862222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至桌子的正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近桌子。", + "frame": 353, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近桌子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹在水平方向上接近桌子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，直至桌子的正上方。", + "time": 11.761958979896907, + "annotations": { + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077782352_2d3th2ls5", + "x": 0.4585, + "y": 0.10133333333333334, + "width": 0.1080000000000001, + "height": 0.2915555555555555 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": 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0.32711111111111113, + "width": 0.7529999999999999, + "height": 0.6524444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹下降，爪夹张开，杯子被放在桌子上。", + "correction_plan": "", + "error_success_analysis": "爪夹下降，爪夹张开，杯子被放在桌子上", + "frame": 494, + "progress": 100, + "progress_explanation": "爪夹松开，杯子放在桌子上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，杯子已被放在桌子上。\n已完成抓起杯子将其放在桌子上的任务。", + "time": 16.455567313917523, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077626120_oboo57nqk", + "x": 0.4375, + "y": 0.48177777777777775 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077825200_l0aryil4t", + "x": 0.39649999999999996, + "y": 0.33955555555555555, + "width": 0.07499999999999996, + "height": 0.22755555555555557 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077951640_sx0bjrpxv", + "x": 0.2405, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.wrist_image_left/episode_001257.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓起碗中的记号笔使其放在桌子上:\n开始移动:0%\n爪夹靠近碗中的记号笔:20%\n爪夹抓取碗中的记号笔:40%\n爪夹抓住碗中的记号笔接近桌子:60%\n爪夹抓住碗中的记号笔放在桌子上:80%\n爪夹松开，碗中的记号笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1767060175005": { + "instances": [ + { + "height": 0.4942222222222221, + "id": "bbox_1767060175005_1767060212805_2sq91tqb9", + "width": 0.7070000000000001, + "x": 0.0055, + "y": 0.47822222222222227 + } + ], + "type": "bbox" + }, + "point_1767060185309": { + "instances": [ + { + "id": "point_1767060185309_1767060201309_1c7cqohfz", + "x": 0.4375, + "y": 0.5973333333333333 + } + ], + "type": "point" + }, + "point_1767060185717": { + "instances": [ + { + "id": "point_1767060185717_1767060203413_2zct6xspl", + "x": 0.7655000000000001, + "y": 0.5884444444444444 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方移动，直至碗中记号笔的正上方。竖直下降，抓取记号笔， 后上升，向爪夹方向的左前方移动，直至记号笔处于桌子正上方。下降将记号笔放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰碗中记号笔。\n为完成抓起碗中记号笔将其放在桌子上的任务应当:爪夹向爪夹方向的左后方移动，直至碗中记号笔的正上方。", + "time": 0.3107555453333333 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767060174541": { + "instances": [ + { + "height": 0.30755555555555564, + "id": "bbox_1767060174541_1767060238997_744fvspeb", + "width": 0.03125, + "x": 0.5665, + "y": 0.5404444444444445 + } + ], + "type": "bbox" + }, + "bbox_1767060175005": { + "instances": [ + { + "height": 0.9528888888888888, + "id": "bbox_1767060175005_1767060251589_2qiirm1fb", + "width": 0.8809999999999997, + "x": 0.11250000000000007, + "y": 0.0071111111111111175 + } + ], + "type": "bbox" + }, + "point_1767060185309": { + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002530.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002530.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ede7b2cd6d4106ae05d01cb343ba8c627ea97e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002530.json @@ -0,0 +1,716 @@ +{ + "task_description": "抓取马克笔将其放进杯子里:\n开始移动:0%\n爪夹靠近马克笔:20%\n爪夹抓取马克笔:40%\n爪夹抓住马克笔接近杯子:60%\n爪夹抓住马克笔接触杯子:80%\n爪夹松开，马克笔放进杯子里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至马克笔的正上方。下降，抓取马克笔，后上升，向爪夹方向的右侧移动，直至杯子的正上方。下降将马克笔放进杯子里，爪夹张开。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + 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"取出蓝色杯子里的标记笔使其放在桌子上:\n开始移动:0%\n爪夹靠近蓝色杯子里的标记笔:20%\n爪夹抓取蓝色杯子里的标记笔:40%\n爪夹抓住蓝色杯子里的标记笔靠近桌子:60%\n爪夹抓住蓝色杯子里的标记笔接近桌子:80%\n爪夹松开，蓝色杯子里的标记笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至蓝色杯子里的标记笔的正上方。下降，抓取蓝色杯子里的标记笔，后上升，向爪夹方向的左侧移动，直至桌子的正上方。下降将蓝色杯子里的标记笔放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰蓝色杯子里的标记笔。\n为完成爪夹抓取蓝色杯子里的标记笔使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至蓝色杯子里的标记笔的正上方。", + "time": 0.48951890979381446, + "annotations": { + "bbox_1767172532236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172532236_1767172611900_h0c4xilob", + "x": 0.5215, + "y": 0.40355555555555556, + "width": 0.016000000000000014, + "height": 0.11733333333333336 + } + ] + }, + "bbox_1767172532685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172532685_1767172617829_1m7bazjw7", + "x": 0.3065, + "y": 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+ "id": "point_1767493802434", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767493803018", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002014.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002014.json new file mode 100644 index 0000000000000000000000000000000000000000..bc68228dacf762e2205ce14534c92f34f83c6ba9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002014.json @@ -0,0 +1,316 @@ +{ + "task_description": "将粉色衣架使其放在桌子上:\n抓住衣架开始移动:0%\n把衣架放到桌上:50%\n松开爪夹衣架掉落桌面:100%", + "progress_points": [ + { + "action_description": "爪夹合拢，爪夹抓住粉色衣架，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，使其粉色衣架于桌面垂直，爪夹抓住粉色衣架向爪夹方向的前方移动，直至桌子的正上方。下降，将粉色衣架放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 378, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，没有移动，爪夹抓住粉色衣架。\n为完成将粉色衣架使其放在桌子上的任务应当:爪夹调整爪夹角度，使其粉色衣架于桌面垂直，爪夹抓住粉色衣架向爪夹方向的前方移动，直至桌子的正上方。", + "time": 12.593778002666665, + "annotations": { + "bbox_1767496152697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152697_1767496263672_7ycvd0dq9", + "x": 0.4225, + "y": 0.3608888888888889, + "width": 0.575, + "height": 0.6346666666666667 + } + ] + }, + "bbox_1767496152233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152233_1767496364257_jygxn0bk2", + "x": 0.7435, + "y": 0.0017777777777777779, + "width": 0.25299999999999995, + "height": 0.47466666666666674 + } + ] + }, + "point_1767496164840": { + "type": "point", + "instances": [ + { + "id": "point_1767496164840_1767496376553_q1pnufwnh", + "x": 0.8695, + "y": 0.07822222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹抓住粉色衣架下降，并开始调整爪夹角度，使其粉色衣架于桌面垂直。", + "correction_plan": "爪夹调整爪夹角度，使其粉色衣架于桌面垂直，向爪夹方向的前方移动，直至桌子的正上方。下降，将粉色衣架放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色衣架下降，在垂直方向上接近桌子，并开始调整爪夹角度，使其粉色衣架于桌面垂直，方便放下。", + "frame": 423, + "progress": 10, + "progress_explanation": "爪夹抓住粉色衣架下降，在垂直方向上接近桌子，因此进度提升至10%。", + "state_description": "当前状态为爪夹合拢，在垂直方向上接近桌子。\n为完成将粉色衣架使其放在桌子上的任务应当:爪夹调整爪夹角度，使其粉色衣架于桌面垂直，向爪夹方向的前方移动，直至桌子的正上方。", + "time": 14.093333, + "annotations": { + "bbox_1767496152697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152697_1767496256456_xexl5bg4h", + "x": 0.44750000000000006, + "y": 0.3608888888888889, + "width": 0.5489999999999999, + "height": 0.6382222222222222 + } + ] + }, + "bbox_1767496152233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152233_1767496348257_wg6e3m0vc", + "x": 0.7195, + "y": 0.14755555555555558, + "width": 0.2800000000000001, + "height": 0.43199999999999994 + } + ] + }, + "point_1767496164840": { + "type": "point", + "instances": [ + { + "id": "point_1767496164840_1767496380240_0ek3x88zp", + "x": 0.8455, + "y": 0.2488888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，并下降，调整爪夹角度，使其粉色衣架于桌面垂直。", + "correction_plan": "爪夹下降，将粉色衣架放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，并下降，在垂直方向更上接近桌子，调整爪夹角度，使其粉色衣架于桌面垂直，方便放下。", + "frame": 449, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的前方移动，并下降，在垂直方向更上接近桌子，因此进度提升至20%。", + "state_description": "当前状态为爪夹合拢，粉色衣架于桌面垂直，在垂直方向更上接近桌子。\n为完成将粉色衣架使其放在桌子上的任务应当:爪夹下降，将粉色衣架放在桌子上，爪夹张开。", + "time": 14.970666, + "annotations": { + "bbox_1767496152697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152697_1767496248889_80xmyl5in", + "x": 0.4415, + "y": 0.3573333333333334, + "width": 0.5549999999999999, + "height": 0.6417777777777778 + } + ] + }, + "bbox_1767496152233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152233_1767496332016_apq6pfaok", + "x": 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at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json new file mode 100644 index 0000000000000000000000000000000000000000..d29580f037211d00ee918704477c91f2912eb97e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json @@ -0,0 +1,688 @@ +{ + "task_description": "抓取白色的布将其放在盘子上:\n开始移动:0%\n爪夹靠近白色的布:20%\n爪夹抓取白色的布:40%\n爪夹抓住白色的布接近盘子:60%\n爪夹抓住白色的布接触盘子:80%\n爪夹松开，白色的布放在盘子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至白色的布的正上方。下降，抓取白色的布，后上升，向爪夹方向的右侧移动，直至盘子正上方。下降将白色的布放在盘子上，爪夹张开。", + "error_success_analysis": "", + "frame": 111, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰白色的布。\n为完成抓取白色的布将其放在盘子上的任务应当:爪夹向爪夹方向的右前方移动，直至白色的布的正上方。", + "time": 3.6952577319587627, + "annotations": { + "bbox_1767509782455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782455_1767509822927_x933u3qen", + "x": 0.5575, + "y": 0.5955555555555556, + "width": 0.17, + "height": 0.16177777777777771 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782895_1767509839527_5keve61t6", + "x": 0.49350000000000005, + "y": 0.5528888888888889, + "width": 0.09499999999999993, + "height": 0.09422222222222226 + } + ] + }, + "point_1767509797975": { + "type": "point", + "instances": [ + { + "id": "point_1767509797975_1767509851767_c2lxejp2y", + "x": 0.4655, + "y": 0.5031111111111112 + } + ] + }, + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509854719_fh9gl7d4u", + "x": 0.5205, + "y": 0.5422222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至白色的布的正上方。下降，抓取白色的布，后上升，向爪夹方向的右侧移动，直至盘子正上方。下降将白色的布放在盘子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上接近白色的布，爪夹垂直于桌面，方便抓取。", + "frame": 170, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近白色的布，爪夹垂直于桌面，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上接近白色的布。\n为完成抓取白色的布将其放在盘子上的任务应当:爪夹向爪夹方向的右前方移动，直至白色的布的正上方。", + "time": 5.6608, + "annotations": { + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509858455_mt9ds37w3", + "x": 0.6054999999999999, + "y": 0.5031111111111112 + } + ] + }, + "point_1767509797975": { + "type": "point", + "instances": [ + { + "id": "point_1767509797975_1767509937447_i8yuxijdk", + "x": 0.5645, + "y": 0.496 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + 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"当前爪夹已悬空于白色的布正上方，已接近白色的布，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于白色的布的正上方。\n为完成抓取白色的布将其放在盘子上的任务应当:竖直下降，抓取白色的布。", + "time": 8.1664, + "annotations": { + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509864799_pm9yf66j2", + "x": 0.6425, + "y": 0.6186666666666667 + } + ] + }, + "point_1767509797975": { + "type": "point", + "instances": [ + { + "id": "point_1767509797975_1767509928919_pmls59d7v", + "x": 0.6525000000000001, + "y": 0.6008888888888889 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782895_1767509972943_eek27sl97", + "x": 0.4915, + "y": 0.5493333333333333, + "width": 0.10199999999999995, + "height": 0.09777777777777774 + } + ] + }, + "bbox_1767509782455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782455_1767510223759_clidjkukz", + "x": 0.5565, + "y": 0.6080000000000001, + "width": 0.16800000000000007, + "height": 0.15111111111111114 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，抓取白色的布。", + "correction_plan": "爪夹抓取白色的布上升，向爪夹方向的右侧移动，直至盘子的正上方。下降将白色的布放在盘子上，爪夹张开。", + "error_success_analysis": "爪夹在白色的布的正上方下降，成功抓取到白色的布。", + "frame": 283, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到白色的布，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，已抓取到白色的布。\n为完成抓取白色的布将其放在盘子上的任务应当:爪夹抓取白色的布上升，向爪夹方向的右侧移动，直至盘子的正上方。", + "time": 9.435463917525773, + "annotations": { + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509868871_mdjz1pijb", + "x": 0.6425, + "y": 0.615111111111111 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782895_1767509988496_xde9d6ii0", + "x": 0.49450000000000005, + "y": 0.5546666666666666, + "width": 0.09699999999999998, + "height": 0.09955555555555556 + } + ] + }, + "bbox_1767509782455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782455_1767510210279_8de05wfbn", + "x": 0.5585, + "y": 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"action_description": "爪夹张开，棕色咖啡杯放在桌子上。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，棕色咖啡杯已被放在桌子上。", + "frame": 323, + "progress": 100, + "progress_explanation": "爪夹张开，棕色咖啡杯放在桌子上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，棕色咖啡杯已被放在桌子上。\n已完成抓取棕色咖啡杯将其放在桌子上的任务。", + "time": 10.751999999999999, + "annotations": { + "point_1767514972648": { + "type": "point", + "instances": [ + { + "id": "point_1767514972648_1767515033992_2bbr8tn44", + "x": 0.6915, + "y": 0.5653333333333334 + } + ] + }, + "point_1767514972360": { + "type": "point", + "instances": [ + { + "id": "point_1767514972360_1767515036296_288xcrht0", + "x": 0.5105000000000001, + "y": 0.5546666666666666 + } + ] + }, + "bbox_1767514971616": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767514971616_1767515144672_g7dkcsnss", + "x": 0.0085, + "y": 0.008888888888888889, + "width": 0.9879999999999999, + "height": 0.9848888888888889 + } + ] + }, + "bbox_1767514971240": { + "type": "bbox", + "instances": [ + { + 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0000000000000000000000000000000000000000..f6f5071e88da5aae35ecd2ca59b73e80b2435c28 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.wrist_image_left/episode_002838.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓取灰色的锅使其放在炉灶左上角的炉盘上:\n开始移动:0%\n爪夹靠近灰色的锅:20%\n爪夹抓取灰色的锅:40%\n爪夹抓住灰色的锅靠近炉灶左上角的炉盘:60%\n爪夹抓住灰色的锅接近炉灶左上角的炉盘:80%\n爪夹松开，灰色的锅放在炉灶左上角的炉盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "point_1767515670352": { + "type": "point", + "instances": [ + { + "id": "point_1767515670352_1767516102808_w9tkamrtb", + "x": 0.44903225806451613, + "y": 0.596415770609319 + } + ] + }, + "point_1767515670720": { + "type": "point", + "instances": [ + { + "id": "point_1767515670720_1767516105120_6snd5adh8", + "x": 0.7716129032258064, + "y": 0.596415770609319 + } + ] + }, + "bbox_1767515655648": { + "type": "bbox", + "instances": [ + { + "id": 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2.762058220134228, + "annotations": { + "bbox_1767515655648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515655648_1767518844417_y70ig4ej8", + "x": 0.34255552108425774, + "y": 0.08920985243055556, + "width": 0.4329999735717789, + "height": 0.6008888888888889 + } + ] + }, + "bbox_1767515655304": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515655304_1767518851625_syjlvntwh", + "x": 0.3655555196804492, + "y": 0.24032096354166665, + "width": 0.268999983581544, + "height": 0.5813333333333334 + } + ] + }, + "point_1767515670352": { + "type": "point", + "instances": [ + { + "id": "point_1767515670352_1767518863497_0odav7l6t", + "x": 0.4525555143703909, + "y": 0.6047654079861111 + } + ] + }, + "point_1767515670720": { + "type": "point", + "instances": [ + { + "id": "point_1767515670720_1767518917209_zegz0og74", + "x": 0.7705554949612125, + "y": 0.6012098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至灰色的锅的正前方。向爪夹方向的前方移动，抓取灰色的锅，后上升，向爪夹方向的左后方移动，直至炉灶左上角的炉盘上正上方。下降将灰色的锅放在炉灶左上角的炉盘上上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，爪夹在水平方向上接近灰色的锅。", + "frame": 144, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近灰色的锅，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近灰色的锅。\n为完成抓取灰色的锅将其放在炉灶左上角的炉盘上的任务应当:爪夹向爪夹方向的前方移动，直至灰色的锅的正前方。", + "time": 4.808834989978091, + "annotations": { + "point_1767515670352": { + "type": "point", + "instances": [ + { + "id": "point_1767515670352_1767518865929_y9u9zi4iv", + "x": 0.4465555147366018, + "y": 0.6083209635416666 + } + ] + }, + "point_1767515670720": { + "type": "point", + "instances": [ + { + "id": "point_1767515670720_1767518914305_mtdy96lzo", + "x": 0.7725554948391421, + "y": 0.6065431857638889 + } + ] + }, + "bbox_1767515655304": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515655304_1767518931161_l31nh8c1h", + "x": 0.4075555171169728, + "y": 0.2545431857638889, + "width": 0.25899998419189546, + 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"color": "#F44336", + "id": "point_1767515670720", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003452.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003452.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d218a2f7646283b1644931475df517a8bba702 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003452.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓起绿色立方体使其放入碗中:\n开始移动:0%\n爪夹靠近绿色立方体:20%\n爪夹抓取绿色立方体:40%\n爪夹抓住绿色立方体接近碗:60%\n爪夹将绿色立方体放入碗:80%\n爪夹松开，绿色立方体放入碗中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "annotations": { + "bbox_1767579478242": 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"point_1768189521538_1768189689785_w9h3o0lus", + "x": 0.7718888078681146, + "y": 0.6172098524305555 + } + ] + }, + "bbox_1768206852559": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768206852559_1768206964535_g7ilxi1nx", + "x": 0.0035000000000000005, + "y": 0.3555555555555555, + "width": 0.9239999999999998, + "height": 0.6382222222222222 + } + ] + } + }, + "correction_plan": "爪夹向爪夹方向的右后方移动，直至球在爪夹的正右方，后竖直下降，爪夹向爪夹方向的左侧移动，直至推动球至桌子的中间。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰球。\n为完成爪夹将球推至桌子的中间的任务应当:爪夹向爪夹方向的右后方移动，直至球在爪夹的正右方。", + "time": 0.6230240231958762 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1768189520082": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189520082_1768189670058_ofr80vqox", + "x": 0.18488884369574926, + "y": 0.5425431857638889, + "width": 0.24699998492431735, + "height": 0.4106666666666667 + 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"action_description": "爪夹向爪夹的左侧调整并下降。", + "annotations": { + "bbox_1768189520082": { + "instances": [ + { + "height": 0.568888888888889, + "id": "bbox_1768189520082_1768189651426_plynl8092", + "width": 0.20999998718261798, + "x": 0.001888854865182198, + "y": 0.405654296875 + } + ], + "type": "bbox" + }, + "bbox_1768206852559": { + "instances": [ + { + "height": 0.88, + "id": "bbox_1768206852559_1768206894624_nja9hpgdr", + "width": 0.7020000000000001, + "x": 0.0015, + "y": 0.10488888888888888 + } + ], + "type": "bbox" + }, + "point_1768189521258": { + "instances": [ + { + "id": "point_1768189521258_1768189653610_wnqtv3w8g", + "x": 0.45188882739936354, + "y": 0.6189876302083334 + } + ], + "type": "point" + }, + "point_1768189521538": { + "instances": [ + { + "id": "point_1768189521538_1768189655930_7etgp6dkg", + "x": 0.7748888076850092, + "y": 0.6225431857638889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，继续向爪夹的左侧略微调整，直至球在爪夹的正右侧，后竖直下降，爪夹向爪夹方向的左侧移动，直至推动球至桌子的中间。", + 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+ "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹已经开始推动球移动。\n为完成爪夹将球推至桌子的中间的任务应当:爪夹向爪夹方向的左侧移动，推动球，直至桌子的中间。", + "time": 3.054501562371134 + }, + { + "action_description": "爪夹上升。", + "annotations": { + "bbox_1768189520082": { + "instances": [ + { + "height": 0.46933333333333327, + "id": "bbox_1768189520082_1768189567410_7h8n2bvu9", + "width": 0.26199998400879004, + "x": 0.4108888299018048, + "y": 0.28832096354166675 + } + ], + "type": "bbox" + }, + "bbox_1768206852559": { + "instances": [ + { + "height": 0.9582222222222223, + "id": "bbox_1768206852559_1768206871368_igwwun8bi", + "width": 0.994, + "x": 0.0015, + "y": 0.0035555555555555557 + } + ], + "type": "bbox" + }, + "point_1768189521258": { + "instances": [ + { + "id": "point_1768189521258_1768189560809_oxm1ljne8", + "x": 0.45188882739936354, + "y": 0.6189876302083334 + } + ], + "type": "point" + }, + "point_1768189521538": { + "instances": [ + { + "id": "point_1768189521538_1768189557833_24amuhg40", + "x": 0.7708888079291498, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.wrist_image_left/episode_003879.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.wrist_image_left/episode_003879.json new file mode 100644 index 0000000000000000000000000000000000000000..03e743ca1e8a5334eefe0272d2e15258a2efa842 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.wrist_image_left/episode_003879.json @@ -0,0 +1,990 @@ +{ + "task_description": "先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中:\n开始移动:0%\n爪夹放倒两个堆叠的咖啡杯:20%\n爪夹抓取两个堆叠的咖啡杯使其直立放置:40%\n爪夹抓取紫色小袋接近两个堆叠的咖啡杯:60%\n爪夹将紫色小袋放入两个堆叠的咖啡杯:80%\n爪夹松开，紫色小袋放入两个堆叠的咖啡杯中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至两个堆叠的咖啡杯的正上方。下降，将两个堆叠的咖啡杯放倒，爪夹上升向爪夹方向的右后方移动，直至两个堆叠的咖啡杯杯口的正上方。抓取两个堆叠的咖啡杯上升将其直立放置。爪夹向爪夹方向的左侧移动，直至紫色小袋的正上方，下降，抓取紫色小袋，后上升，爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯的正上方，下降，将紫色小袋放入两个堆叠的咖啡杯中，爪夹张开。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰两个堆叠的咖啡杯。\n为完成先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中的任务应当:爪夹向爪夹方向的左侧移动，直至两个堆叠的咖啡杯的正上方。", + "time": 0.492611675773196, + "annotations": { + "point_1767596824157": { + "type": "point", + "instances": [ + { + "id": "point_1767596824157_1767596841205_dts25wibd", + "x": 0.4585, + "y": 0.5688888888888889 + } + ] + }, + "point_1767596824469": { + "type": "point", + "instances": [ + { + "id": "point_1767596824469_1767596936892_0t9dyk9br", + "x": 0.7825, + "y": 0.5831111111111111 + } + ] + }, + "bbox_1767596807413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596807413_1767596954845_j205eohlo", + "x": 0.0045, + "y": 0.0035555555555555557, + "width": 0.29400000000000004, + "height": 0.3662222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并上升。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至两个堆叠的咖啡杯的正上方。下降，将两个堆叠的咖啡杯放倒，爪夹上升向爪夹方向的右后方移动，直至两个堆叠的咖啡杯杯口的正上方。抓取两个堆叠的咖啡杯上升将其直立放置。爪夹向爪夹方向的左侧移动，直至紫色小袋的正上方，下降，抓取紫色小袋，后上升，爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯的正上方，下降，将紫色小袋放入两个堆叠的咖啡杯中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动后，在水平方向上略微接近两个堆叠的咖啡杯，爪夹垂直于桌面，方便抓取。", + "frame": 47, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近两个堆叠的咖啡杯，爪夹垂直于桌面，方便抓取，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上略微接近两个堆叠的咖啡杯。\n为完成先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中的任务应当:爪夹向爪夹方向的左前方移动，直至两个堆叠的咖啡杯的正上方。", + "time": 1.5820577971938776, + "annotations": { + "point_1767596824157": { + "type": "point", + "instances": [ + { + "id": "point_1767596824157_1767596844596_w1o8tc5wn", + "x": 0.4545, + "y": 0.5760000000000001 + } + ] + }, + "point_1767596824469": { + "type": "point", + "instances": [ + { + "id": 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"爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯杯口的正上方。抓取两个堆叠的咖啡杯上升将其直立放置。爪夹向爪夹方向的左侧移动，直至紫色小袋的正上方，下降，抓取紫色小袋，后上升，爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯的正上方，下降，将紫色小袋放入两个堆叠的咖啡杯中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动后爪夹处于两个堆叠的咖啡杯的正上方", + "frame": 182, + "progress": 25, + "progress_explanation": "当前爪夹处于两个堆叠的咖啡杯的正上方，还未到两个堆叠的咖啡杯杯口的正上方，因此进度略微提升至25%。", + "state_description": "当前状态为爪夹张开，爪夹处于两个堆叠的咖啡杯的正上方。\n为完成先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中的任务应当:爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯杯口的正上方。", + "time": 6.068556601546391, + "annotations": { + "point_1767596824157": { + "type": "point", + "instances": [ + { + "id": "point_1767596824157_1767596853869_t2j78yn45", + "x": 0.45549999999999996, + "y": 0.5866666666666667 + } + ] + }, + "point_1767596824469": { + "type": "point", + "instances": [ + { + "id": "point_1767596824469_1767596921828_ar0hbxumz", + "x": 0.7865, + "y": 0.5848888888888889 + } + ] + }, + "bbox_1767596807757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596807757_1767597039180_geujm76js", + "x": 0.2795, + "y": 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"color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767596824157", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767596824469", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json new file mode 100644 index 0000000000000000000000000000000000000000..526705da29090b7c81ccd5e0570568b2528c2a3d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json @@ -0,0 +1,758 @@ +{ + "task_description": "钩住透明塑料盒使其放在桌子中间:\n开始移动:0%\n爪夹靠近透明塑料盒:20%\n爪夹触碰透明塑料盒:40%\n爪夹抓住透明塑料盒接近桌子中间:60%\n爪夹钩住透明塑料盒在桌子中间:80%\n爪夹离开，透明塑料盒放在在桌子中间:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至透明塑料盒的正上方，后下降，钩取透明塑料盒，向爪夹方向的后方移动，直至桌子的正上方。爪夹上升将透明塑料盒放在桌子中间。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰透明塑料盒。\n为完成抓起透明塑料盒使其放在桌子中间的任务应当:爪夹向爪夹方向的右前方移动，准备抓取透明塑料盒。", + "time": 0.47027489948453605, + "annotations": { + "point_1768202208996": { + "type": "point", + "instances": [ + { + "id": "point_1768202208996_1768206696655_4bwk40mgb", + "x": 0.3035, + "y": 0.42844444444444446 + } + ] + }, + "point_1768202209244": { + "type": "point", + "instances": [ + { + "id": "point_1768202209244_1768206698815_b4208lpr9", + "x": 0.3375, + "y": 0.4195555555555555 + } + ] + }, + "bbox_1768202189692": { + "type": "bbox", + "instances": [ + { + "id": 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"point_1768202209244_1768206606328_obj8tblhg", + "x": 0.4765, + "y": 0.5955555555555556 + } + ] + }, + "point_1768202208996": { + "type": "point", + "instances": [ + { + "id": "point_1768202208996_1768206608743_qreiqtlf7", + "x": 0.43950000000000006, + "y": 0.5973333333333333 + } + ] + }, + "bbox_1768202189692": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768202189692_1768206614768_2b1m6vycy", + "x": 0.47750000000000004, + "y": 0.5368888888888889, + "width": 0.20699999999999993, + "height": 0.17244444444444448 + } + ] + }, + "bbox_1768202193956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768202193956_1768206820648_3riiquh35", + "x": 0.0765, + "y": 0.512, + "width": 0.9209999999999999, + "height": 0.48177777777777775 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的前方略微移动。", + "correction_plan": "爪夹下降，钩取透明塑料盒，向爪夹方向的后方移动，直至桌子的正上方。爪夹上升将透明塑料盒放在桌子中间。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的前方略微移动并抬升至透明塑料盒的正上方。", + "frame": 241, + "progress": 20, + "progress_explanation": "当前爪夹已再次悬空于透明塑料盒的正上方，已接近透明塑料盒，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于透明塑料盒的正上方。\n为完成抓起透明塑料盒使其放在桌子中间的任务应当:爪夹下降，钩取透明塑料盒，向爪夹方向的后方移动，直至桌子的正上方。", + "time": 8.027869166494845, + "annotations": { + "point_1768202209244": { + "type": "point", + "instances": [ + { + "id": "point_1768202209244_1768206591399_blkh812gc", + "x": 0.4925, + "y": 0.5813333333333334 + } + ] + }, + "point_1768202208996": { + "type": "point", + "instances": [ + { + "id": "point_1768202208996_1768206593552_60wkzcw2f", + "x": 0.4575, + "y": 0.5884444444444444 + } + ] + }, + "bbox_1768202189692": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768202189692_1768206602272_m11zlxxy5", + "x": 0.4875, + "y": 0.5173333333333333, + "width": 0.19699999999999998, + "height": 0.19555555555555548 + } + ] + }, + "bbox_1768202193956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768202193956_1768206826560_xig84k3qn", + "x": 0.0665, + "y": 0.5173333333333333, + "width": 0.93, + 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"#2196F3", + "id": "point_1768202208996", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768202209244", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004138.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004138.json new file mode 100644 index 0000000000000000000000000000000000000000..bbde609136cb7cb7a87754959f80f68b6a8e4a96 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004138.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓取箱子里的塑料袋使其放在沙发上:\n开始移动:0%\n爪夹靠近箱子里的塑料袋:20%\n爪夹抓取箱子里的塑料袋:40%\n爪夹抓住箱子里的塑料袋接近沙发:60%\n爪夹将箱子里的塑料袋放在沙发上:80%\n爪夹松开，箱子里的塑料袋放在沙发上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。下降，抓取箱子里的塑料袋，后上升，爪夹向爪夹方向右方移动，直至沙发的正上方，下降，将箱子里的塑料袋放在沙发上，爪夹张开。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰箱子里的塑料袋。\n为完成抓起箱子里的塑料袋使其放在沙发上的任务应当:爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。", + "time": 0.6666666666666666, + "annotations": { + "bbox_1767599565641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599565641_1767599609825_q3t7p3txf", + "x": 0.34450000000000003, + "y": 0.6133333333333334, + "width": 0.12199999999999997, + "height": 0.19555555555555548 + } + ] + }, + "bbox_1767599565993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599565993_1767599624745_fd959p45p", + "x": 0.47850000000000004, + "y": 0.48000000000000004, + "width": 0.43000000000000005, + "height": 0.5191111111111111 + } + ] + }, + "point_1767599578137": { + "type": "point", + "instances": [ + { 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] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004147.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004147.json new file mode 100644 index 0000000000000000000000000000000000000000..66b7fc4934355fe970e7c9bb0f984edd90f154b0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004147.json @@ -0,0 +1,724 @@ +{ + "task_description": "抓起衣服使其放在桌子右侧:\n开始移动:0%\n爪夹靠近衣服:20%\n爪夹抓取衣服:40%\n爪夹抓住衣服接近桌子右侧:60%\n爪夹将衣服放在桌子右侧:80%\n爪夹松开，衣服放在在桌子右侧:100%", + "progress_points": [ + { + "time": 1.8554253543394512, + "frame": 56, + "progress": 0, + "action_description": "爪夹保持打开状态，准备开始移动。", + "state_description": 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"爪夹向爪夹方向的右前方移动，直至黑色球板的正上方。下降，抓取黑色球板，后上升，爪夹向爪夹方向左侧移动，直至桌子的正上方，下降，将黑色球板放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰黑色球板。\n为完成抓起黑色球板使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至黑色球板的正上方。", + "time": 0.6798469387755101, + "annotations": { + "bbox_1767602192486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602192486_1767602221902_kl5drnk6x", + "x": 0.3245, + "y": 0.5724444444444445, + "width": 0.15700000000000003, + "height": 0.29155555555555557 + } + ] + }, + "point_1767602200990": { + "type": "point", + "instances": [ + { + "id": "point_1767602200990_1767602350190_tlebbk1le", + "x": 0.7135, + "y": 0.8871111111111112 + } + ] + }, + "bbox_1767602192742": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602192742_1767602466526_lw6k29ie8", + "x": 0.0015, + "y": 0.3093333333333333, + "width": 0.6220000000000001, + "height": 0.6862222222222224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至黑色球板的正上方。下降，抓取黑色球板，后上升，爪夹向爪夹方向左侧移动，直至桌子的正上方，下降，将黑色球板放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，在水平方向上接近黑色球板，爪夹垂直于桌面，方便抓取。", + "frame": 62, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近黑色球板，爪夹垂直于桌面，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上接近黑色球板。\n为完成抓起黑色球板使其放在桌子上的任务应当:爪夹向爪夹方向的前方移动，直至黑色球板的正上方。", + "time": 2.0709183673469385, + "annotations": { + "bbox_1767602192486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602192486_1767602229846_s50tdox14", + "x": 0.3245, + "y": 0.5688888888888889, + "width": 0.154, + "height": 0.2933333333333334 + } + ] + }, + "point_1767602201286": { + "type": "point", + "instances": [ + { + "id": "point_1767602201286_1767602356646_v98e5851q", + "x": 0.6355000000000001, + "y": 0.8337777777777778 + } + ] + }, + "point_1767602200990": { + "type": "point", + "instances": [ + { + "id": 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], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767602192486", + "name": "黑色球板", + "color": "#4CAF50" + }, + { + "id": "bbox_1767602192742", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767602200990", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767602201286", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json new file mode 100644 index 0000000000000000000000000000000000000000..cb137b826950608fdffe8c467fea518c5640bcfe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json @@ -0,0 +1,717 @@ +{ + "task_description": "抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上:\n爪夹抓取台面上的螺丝刀:20%\n爪夹抓住台面上的螺丝刀接近敞开的抽屉:40%\n爪夹张开，台面上的螺丝刀放入敞开的抽屉中:60%\n爪夹张开，接近敞开的抽屉:80%\n爪夹张开，敞开的抽屉关上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。下降，抓取台面上的螺丝刀，后上升，爪夹向爪夹方向的后方移动，直至敞开的抽屉的正上方，下降，将台面上的螺丝刀放入敞开的抽屉中，爪夹张开。爪夹下降，向爪夹方向的后侧移动直至敞开的抽屉的边缘，向爪夹方向的前方移动，直至敞开的抽屉关上。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰台面上的螺丝刀。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。", + "time": 1.6219931778350514, + "annotations": { + "bbox_1767664961284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961284_1767665077021_4ugr3pk3j", + "x": 0.5285, + 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"bbox_1767664961284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961284_1767665519844_qe52x6jpb", + "x": 0.5425, + "y": 0.49244444444444446, + "width": 0.08700000000000001, + "height": 0.08888888888888889 + } + ] + }, + "bbox_1767664961996": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961996_1767665526389_v1emk4xlr", + "x": 0.4665, + "y": 0.33955555555555555, + "width": 0.36400000000000005, + "height": 0.45866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后侧移动并下降。", + "correction_plan": "爪夹旋转，调整爪夹平面与抽屉平面平行。爪夹下降，向爪夹方向的后侧移动直至敞开的抽屉的边缘，向爪夹方向的前方移动，直至敞开的抽屉关上。", + "error_success_analysis": "爪夹向爪夹方向的后侧移动并下降后，在水平垂直方向上接近敞开的抽屉的边缘。", + "frame": 216, + "progress": 70, + "progress_explanation": "当前爪夹在水平垂直方向上接近敞开的抽屉的边缘，因此进度提升为70%。", + "state_description": "当前状态为爪夹张开，爪夹在水平垂直方向上接近敞开的抽屉的边缘。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹旋转，调整爪夹平面与抽屉平面平行。", + "time": 7.197251084020619, + "annotations": { + "bbox_1767664961284": { + "type": "bbox", + 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"当前状态为爪夹张开，爪夹平面与抽屉平面平行。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹下降，向爪夹方向的后侧移动直至敞开的抽屉的边缘。", + "time": 7.877145684281842, + "annotations": { + "bbox_1767664961284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961284_1767665633213_arjycud2x", + "x": 0.5425, + "y": 0.4906666666666667, + "width": 0.08700000000000001, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767664961996": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961996_1767665648197_frbebb27x", + "x": 0.46449999999999997, + "y": 0.3146666666666666, + "width": 0.3700000000000001, + "height": 0.4924444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后侧略微移动并下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至敞开的抽屉关上。", + "error_success_analysis": "爪夹向爪夹方向的后侧略微移动并下降，爪夹触碰敞开的抽屉的边缘。", + "frame": 254, + "progress": 90, + "progress_explanation": "当前爪夹触碰敞开的抽屉的边缘，因此进度提升至90%。", + "state_description": "当前状态为爪夹张开，爪夹触碰敞开的抽屉的边缘。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹向爪夹方向的前方移动，直至敞开的抽屉关上。", + "time": 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"当前状态为爪夹张开，敞开的抽屉已被关上。\n已完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务。", + "time": 9.550515762371134, + "annotations": { + "point_1767664985229": { + "type": "point", + "instances": [ + { + "id": "point_1767664985229_1767665586908_gxpvy1cba", + "x": 0.6235, + "y": 0.5706666666666667 + } + ] + }, + "bbox_1767665015180": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767665015180_1767665696924_zqz2ae621", + "x": 0.4635000000000001, + "y": 0.3377777777777778, + "width": 0.27999999999999997, + "height": 0.3982222222222221 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767664961284", + "name": "台面上的螺丝刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767664961996", + "name": "敞开的抽屉", + "color": "#FF9800" + }, + { + "id": "bbox_1767665015180", + "name": "敞开的抽屉关上", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767664985229", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767664985548", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json new file mode 100644 index 0000000000000000000000000000000000000000..9256bc149c38bc2409ce032796a92bd58a208e4f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json @@ -0,0 +1,636 @@ +{ + "task_description": "抓起粉色盖子使其放在桌子上:\n开始移动:0%\n爪夹靠近粉色盖子:20%\n爪夹抓取粉色盖子:40%\n爪夹抓住粉色盖子接近桌子:60%\n爪夹将粉色盖子放在桌子上:80%\n爪夹松开，粉色盖子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。下降，抓取粉色盖子，后上升，爪夹向爪夹方向的右后方移动，直至桌子的正上方，下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰粉色盖子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。", + "time": 0.32818427235772357, + "annotations": { + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669094149_rp4y6aeh9", + "x": 0.3355, + "y": 0.035555555555555556, + "width": 0.19499999999999998, + "height": 0.3697777777777778 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669101869_npk7l7pxq", + "x": 0.4495, + "y": 0.5973333333333333 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669104445_tyynam0u5", + "x": 0.7745, + "y": 0.5937777777777777 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669113229_aw5yh6x1q", + "x": 0.1645, + "y": 0.0035555555555555557, + "width": 0.8320000000000001, + "height": 0.9937777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。下降，抓取粉色盖子，后上升，爪夹向爪夹方向的右后方移动，直至桌子的正上方，下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，在水平方向上接近粉色盖子，爪夹垂直于桌面，方便抓取。", + "frame": 47, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近粉色盖子，垂直于桌面，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上接近粉色盖子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。", + "time": 1.5627822493224932, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669269925_sm7a52kv2", + "x": 0.4485, + "y": 0.5884444444444444 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669272437_9v74cp8th", + "x": 0.7725000000000001, + "y": 0.5955555555555556 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669379797_f7qrlhm4p", + "x": 0.33549999999999996, + "y": 0.008888888888888911, + "width": 0.266, + "height": 0.48711111111111116 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669591868_7i23zbru7", + "x": 0.0055, + "y": 0.0017777777777777779, + "width": 0.99, + "height": 0.9937777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹顺时针旋转45度后，向爪夹方向的前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。下降，抓取粉色盖子，后上升，爪夹向爪夹方向的右后方移动，直至桌子的正上方，下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹顺时针旋转45度后，向爪夹方向的前方移动并下降后，在水平垂直方向上更接近粉色盖子，爪夹垂直于桌面，方便抓取粉色盖子。", + "frame": 89, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平垂直方向上更接近粉色盖子，爪夹垂直于桌面，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平垂直方向上更接近粉色盖子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:", + "time": 2.9692862737127377, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": 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"progress": 20, + "progress_explanation": "当前爪夹已悬空于粉色盖子正上方，已接近粉色盖子，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于粉色盖子的正上方。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹竖直下降，抓取粉色盖子，后上升，向爪夹方向的右后方移动，直至桌子的正上方。", + "time": 4.2, + "annotations": { + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669313773_1wh1xa8cz", + "x": 0.7705, + "y": 0.5955555555555556 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669321149_euubec0ap", + "x": 0.4485, + "y": 0.5902222222222223 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669407621_opm36lj8c", + "x": 0.2185, + "y": 0.192, + "width": 0.4619999999999999, + "height": 0.7555555555555555 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669579085_jn04i52gt", + "x": 0.0055, + "y": 0.0071111111111111115, + "width": 0.9880000000000001, + 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"bbox_1767669053685_1767669436349_bkvy9fjlu", + "x": 0.0015, + "y": 0.00711111111111111, + "width": 0.624, + "height": 0.9902222222222222 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669564869_pct65xx9o", + "x": 0.0085, + "y": 0.0017777777777777779, + "width": 0.9879999999999999, + "height": 0.9902222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹抓住粉色盖子上升，向爪夹方向的左后方移动。", + "correction_plan": "爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色盖子上升，向爪夹方向的左后方移动，成功在水平方向上略微接近桌子。", + "frame": 235, + "progress": 50, + "progress_explanation": "当前爪夹已抓取到粉色盖子，并在水平方向上略微接近桌子，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓住粉色盖子在水平方向上略微接近桌子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。", + "time": 7.829539069105692, + "annotations": { + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669330645_3l8f67yi4", + "x": 0.6295, + "y": 0.5635555555555556 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669333901_o1ws13zvb", + "x": 0.5825, + "y": 0.5582222222222223 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669448901_120v4v7ov", + "x": 0.0755, + "y": 0.02488888888888889, + "width": 0.549, + "height": 0.9706666666666668 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669556541_lmbj3l8uy", + "x": 0.0055, + "y": 0.005333333333333333, + "width": 0.9890000000000001, + "height": 0.9884444444444443 + } + ] + } + } + }, + { + "action_description": "爪夹抓住粉色盖子向爪夹方向的左后方移动。", + "correction_plan": "爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色盖子向爪夹方向的左后方移动后，在水平方向上接近桌子。", + "frame": 256, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住粉色盖子在水平方向上接近桌子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓住粉色盖子在水平方向上接近桌子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。", + "time": 8.548418903794039, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669338317_fouifcoqb", + "x": 0.5815, + "y": 0.5493333333333333 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669340613_ygc97ynjs", + "x": 0.6255, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669462421_2xrf8ur0v", + "x": 0.2225, + "y": 0.044444444444444446, + "width": 0.4029999999999999, + "height": 0.9262222222222222 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669549885_9uxa5q4j7", + "x": 0.0045, + "y": 0.0035555555555555557, + "width": 0.991, + "height": 0.9937777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹抓住粉色盖子向爪夹方向的左后方移动并下降。", + "correction_plan": "爪夹下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色盖子向爪夹方向的左后方移动并下降，爪夹抓住粉色盖子处于桌子的正上方。", + "frame": 278, + "progress": 70, + "progress_explanation": "当前爪夹抓住粉色盖子处于桌子的正上方，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓住粉色盖子处于桌子的正上方。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹下降，将粉色盖子放在桌子上，爪夹张开。", + "time": 9.282926560975612, + "annotations": { + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669344197_f0s29cua5", + "x": 0.6214999999999999, + "y": 0.5528888888888889 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669347597_gtszay09s", + "x": 0.5805, + "y": 0.5457777777777778 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669473541_k5bicbqsv", + "x": 0.2425, + "y": 0.05866666666666666, + "width": 0.378, + "height": 0.9191111111111111 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669542757_uacfpo9f3", + "x": 0.006500000000000001, + "y": 0.0035555555555555557, + "width": 0.9880000000000001, + "height": 0.9937777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹下降，粉色盖子触碰桌面。", + "correction_plan": "爪夹张开，粉色盖子放在桌子上。", + "error_success_analysis": "爪夹下降，粉色盖子触碰桌面。", + "frame": 295, + "progress": 80, + "progress_explanation": "当前爪夹抓住粉色盖子触碰桌面，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，粉色盖子触碰桌面。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹张开，粉色盖子放在桌子上。", + "time": 9.829900348238484, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669350357_lkqs3az79", + "x": 0.5825, + "y": 0.5511111111111111 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669353501_jp9b7y3qm", + "x": 0.6295, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669487597_l2nvyywz8", + "x": 0.14250000000000002, + "y": 0.048, + "width": 0.483, + "height": 0.9475555555555557 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669535885_c3js4jxp1", + "x": 0.006500000000000001, + "y": 0.0071111111111111115, + "width": 0.9850000000000001, + "height": 0.9884444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹张开，粉色盖子放在桌子上。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，粉色盖子已被放在桌子上。", + "frame": 310, + "progress": 100, + "progress_explanation": "爪夹张开，粉色盖子放在桌子上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，粉色盖子已被放在桌子上。\n已完成抓起粉色盖子使其放在桌子上的任务。", + "time": 10.345618490514905, + "annotations": { + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669357205_vs3acaz7s", + "x": 0.6995, + "y": 0.5688888888888889 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669359421_7fqgfb4ax", + "x": 0.5035000000000001, + "y": 0.5599999999999999 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669500021_2or6mxqp5", + "x": 0.14950000000000002, + "y": 0.11911111111111111, + "width": 0.45, + "height": 0.7751111111111112 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669528757_49sv4vvfw", + "x": 0.0045, + "y": 0.0071111111111111115, + "width": 0.9890000000000001, + "height": 0.9831111111111112 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767669053685", + "name": "粉色盖子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767669054061", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767669065325", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767669065597", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004801.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004801.json new file mode 100644 index 0000000000000000000000000000000000000000..4667b817e1dad6f9347d6aa8a7a2a5e91c4596f6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004801.json @@ -0,0 +1,534 @@ +{ + "task_description": "Move the yellow mug backwards\n将黄色杯子向后移动\n抓起绿色杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近绿色杯子:20%\n爪夹抓取绿色杯子:40%\n爪夹抓住绿色杯子接近桌子:60%\n爪夹将绿色杯子放在桌子上:80%\n爪夹松开，绿色杯子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": 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--git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005188.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005188.json new file mode 100644 index 0000000000000000000000000000000000000000..78d14ccf58e0793225fb99531e1b07663f160a80 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005188.json @@ -0,0 +1,327 @@ +{ + "task_description": "爪夹抓起水杯移动到左边。\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹移动杯子靠近桌子左边:60%\n爪夹把杯子放在桌子左边:80%\n爪夹松开，杯子被放在桌子左边:100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.20561577116895255, + "id": "bbox_1766805403909_1768456400040_2z86h9p54", + "width": 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"point_1766805592345_1768811918301_nowy328ko", + "x": 0.45149999999999996, + "y": 0.22577777777777777 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动，移动至杯子正上方后，爪夹下降，抓取杯子，向爪夹方向的左方移动，移动至杯子原本位置的左方后，爪夹下降，将杯子放在桌面上，随后松开爪夹。", + "error_success_analysis": "向爪夹右方靠近了杯子，可抓取杯子。", + "frame": 51, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝杯子的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。爪夹与杯子距离减小。\n为完成爪夹抓起水杯移动到左边的任务应当：继续向爪夹右前方移动。", + "time": 1.6835052139175257 + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.2026666666666666, + "id": "bbox_1766805403909_1767069273198_xx8dc6zbk", + "width": 0.09699999999999998, + "x": 0.5985, + "y": 0.39822222222222226 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069275252_qo3znshed", + "x": 0.6075, + "y": 0.4106666666666667 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069276949_xd2jd57eh", + "x": 0.6335, + "y": 0.48355555555555557 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取杯子，向爪夹左方移动杯子，杯子放在桌子上，爪夹松开向爪夹右前方移动，移动至杯子正上方后，爪夹下降，抓取到杯子后垂直抬升，向爪夹方向的左方移动，移动至杯子原本位置的左方后，爪夹下降，将杯子放在桌面上，随后松开爪夹。", + "error_success_analysis": "向爪夹右方靠近了杯子，可抓取杯子。", + "frame": 109, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹移动到了杯子的正上方。因此进度提升至20%。", + "state_description": "爪夹在杯子正上方。\n为完成爪夹抓起水杯移动到左边的任务应当;爪夹合拢抓取杯子。", + "time": 3.625635866494845 + }, + { + "action_description": "爪夹合拢抓取杯子。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.20310826176445312, + "id": "bbox_1766805403909_1768456306900_pluku2f2v", + "width": 0.0930897630995073, + "x": 0.5980311623229845, + "y": 0.3926689861842874 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069202769_d4dpesrer", + "x": 0.6085, + "y": 0.4071111111111111 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069204601_uzl0esye7", + "x": 0.6265000000000001, + "y": 0.4657777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左方移动，移动至杯子原本位置的左方后，爪夹下降，将杯子放在桌面上，随后松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "爪夹抓取了杯子，可以向爪夹左边移动杯子。", + "frame": 132, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹已经合拢并抓取了杯子。因此进度提升至40%。", + "state_description": "爪夹抓取了杯子。\n为完成把水杯放下的任务应当：向爪夹左方移动杯子。", + "time": 4.38687300670103 + }, + { + "action_description": "向爪夹左边移动杯子。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.2431353096583912, + "id": "bbox_1766805403909_1768456350478_sx2oob8lm", + "width": 0.10496291979187929, + "x": 0.5632549279050714, + "y": 0.2525667740566543 + } + ], + "type": "bbox" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1768811952013_dabs8n609", + "x": 0.6015, + "y": 0.33955555555555555 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左边移动杯子。把杯子放在桌面上，随后松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "向爪夹左边移动了杯子，可把杯子放置在桌上。", + "frame": 167, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹把杯子向杯子左边移动了。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。杯子被抓取。\n为完成把水杯放下的任务应当：继续向爪夹左边移动杯子。", + "time": 5.5775259695876285 + }, + { + "action_description": "向爪夹左边移动杯子。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.1730181489104601, + "id": "bbox_1766805403909_1768456374008_nw7p47k0g", + "width": 0.06475390067081635, + "x": 0.3858217150908008, + "y": 0.20314631759338753 + } + ], + "type": "bbox" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1768811960677_9v7hjryib", + "x": 0.40049999999999997, + "y": 0.23644444444444446 + } + ], + "type": "point" + } + }, + "correction_plan": "把杯子放在桌面上，随后松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "向爪夹左边移动了杯子，可把杯子放置在桌上。", + "frame": 215, + "progress": 60, + "progress_explanation": "爪夹把杯子向杯子左边移动了。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态，杯子被抓取。\n为完成把水杯放下的任务应当：把杯子放在桌子上", + "time": 7.17807585412371 + }, + { + "action_description": "把杯子放在桌子上。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.14222222222222222, + "id": "bbox_1766805403909_1767069298387_tg1xetvlk", + "width": 0.06700000000000009, + "x": 0.40149999999999997, + "y": 0.224 + } + ], + "type": "bbox" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1768811978785_5r3ajs8mo", + "x": 0.4255, + "y": 0.27022222222222225 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "杯子靠右放在原来位置的左方。可松开爪夹。", + "frame": 243, + "progress": 80, + "progress_explanation": "与上一进度相比，杯子已经被放在桌子上，因此进度提升至80%。", + "state_description": "爪夹保持合拢，夹住杯子，杯子在桌子上。\n为完成把水杯放下的任务应当：爪夹松开。", + "time": 8.101668930434654 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.16533333333333328, + "id": "bbox_1766805403909_1767074550015_15txidwb8", + "width": 0.07000000000000002, + "x": 0.3995, + "y": 0.2026666666666667 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069305501_dk5p865e4", + "x": 0.3935, + "y": 0.15466666666666667 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069307723_uy3dzkrv0", + "x": 0.4365, + "y": 0.17244444444444443 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开。\n已完成抓起水杯移动到左边的任务。", + "frame": 276, + "progress": 100, + "progress_explanation": "与上一阶段相比，爪夹松开并上移，因此进度提升至100%。", + "state_description": "爪夹处于张开状态，杯子在爪夹下方。\n已完成爪夹抓起水杯移动到左边的任务。", + "time": 9.1893284997404 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766805403909", + "name": "水杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766805559667", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766805592345", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json new file mode 100644 index 0000000000000000000000000000000000000000..b72b09b951668b45a916e95b146a790cf6d503b3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json @@ -0,0 +1,357 @@ +{ + "task_description": "爪夹抓起笔放至笔在靠左桌面上。\n开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹移动笔靠近桌子左边:60%\n爪夹将笔放在桌面上:80%\n爪夹松开，笔被放在桌子左边:100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.15111111111111106, + "id": "bbox_1766806128852_1766806166316_699oi2ee4", + "width": 0.052999999999999936, + "x": 0.5315000000000001, + "y": 0.47466666666666674 + } + ], + "type": "bbox" + } + }, + "correction_plan": "开始向爪夹右下边移动，爪夹下降，爪夹合拢，抓取笔，爪夹抬升，向爪夹左边移动，爪夹下降，松开爪夹，把笔放在桌面上。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹还未开始移动。因此进度为0%。", + "state_description": "爪夹没有开始移动。\n为完成把笔抓出移动放置到应放置的位置上应当：向爪夹下方移动靠近笔。", + "time": 1.117663200515464 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.17876289934618061, + "id": "bbox_1766806128852_1768456431030_36cdfrqz1", + "width": 0.05082848919817877, + "x": 0.5330981635642743, + "y": 0.4646570272880489 + } + ], + "type": "bbox" + }, + "point_1766806136070": { + "instances": [ + { + "id": "point_1766806136070_1768810991908_yb9x65vn5", + "x": 0.5165, + "y": 0.23822222222222222 + } + ], + "type": "point" + }, + "point_1766806144258": { + "instances": [ + { + "id": "point_1766806144258_1768810994144_no7v00yi9", + "x": 0.5965, + "y": 0.18666666666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹合拢，抓取笔后，爪夹抬升，开始向爪夹左方移动，爪夹下降，松开爪夹，把笔放在桌面上。", + "error_success_analysis": "爪夹向右下方移动接近了杯子。方便爪夹继续向右下方移动靠近笔。", + "frame": 58, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹移动减小了与杯子的距离。因此进度提升至5%", + "state_description": "爪夹与杯子的距离减小。爪夹处于张开状态。\n为完成把笔抓出移动放置到应放置的位置上应当：继续向爪夹下方移动靠近笔。", + "time": 1.9446047592783506 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.17552565831495953, + "id": "bbox_1766806128852_1768456438310_zfs45w0zh", + "width": 0.057828489198178804, + "x": 0.5246877126082212, + "y": 0.46789426831927 + } + ], + "type": "bbox" + }, + "point_1766806136070": { + "instances": [ + { + "id": "point_1766806136070_1768811005855_lkk8idu3b", + "x": 0.5215, + "y": 0.3022222222222222 + } + ], + "type": "point" + }, + "point_1766806144258": { + "instances": [ + { + "id": "point_1766806144258_1768811007532_iuzbgjd9z", + "x": 0.5915, + "y": 0.2577777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹合拢，抓取笔后，爪夹抬升，开始向爪夹左方移动，爪夹下降，松开爪夹，把笔放在桌面上。", + "error_success_analysis": "爪夹向右下方移动接近了杯子。方便爪夹继续向右下方移动靠近笔。", + "frame": 91, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹移动减小了与杯子的距离。因此进度提升至10%。", + "state_description": "爪夹与杯子的距离减小。爪夹处于张开状态。\n为完成把笔抓出移动放置到应放置的位置上应当：继续向爪夹下方移动靠近笔。", + "time": 3.046153080020878 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.14933333333333332, + "id": "bbox_1766806128852_1766806206331_6l7qjdn5w", + "width": 0.054000000000000006, + "x": 0.5285, + "y": 0.45866666666666667 + } + ], + "type": "bbox" + }, + "point_1766806136070": { + "instances": [ + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005654.json @@ -0,0 +1,333 @@ +{ + "task_description": "爪夹抓取盘子靠右放置拉篮中\n开始移动：0%\n⽖夹接近盘子：20%\n爪夹合拢抓紧盘子：40%\n爪夹抓住盘子接近拉篮:60%\n爪夹将盘子放入拉篮:80%\n爪夹松开，盘子落入拉篮:100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766806672495": { + "instances": [ + { + "height": 0.2595555555555555, + "id": "bbox_1766806672495_1766806725572_5tzokp92q", + "width": 0.19699999999999998, + "x": 0.5705, + "y": 0.5422222222222223 + } + ], + "type": "bbox" + }, + "point_1766806681715": { + "instances": [ + { + "id": "point_1766806681715_1766806733742_oe4qbv5uh", + "x": 0.4375, + "y": 0.5724444444444445 + } + ], + "type": "point" + }, + "point_1766806695785": { + "instances": [ + { + "id": "point_1766806695785_1766806735908_un07yvk2l", + "x": 0.7895000000000001, + "y": 0.5831111111111111 + } + ], + "type": "point" + } + }, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005933.json @@ -0,0 +1,421 @@ +{ + "task_description": "爪夹抓起笔使其落入盘中:\n开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近盘子:60%\n爪夹将笔放入盘子:80%\n爪夹松开，笔落入盘子:100%", + "progress_points": [ + { + "action_description": "爪夹还没有开始移动。", + "annotations": { + "bbox_1766806969879": { + "instances": [ + { + "height": 0.3466666666666667, + "id": "bbox_1766806969879_1766807032087_jpfraiemd", + "width": 0.15300000000000002, + "x": 0.3165, + "y": 0.21688888888888888 + } + ], + "type": "bbox" + }, + "point_1766806974770": { + "instances": [ + { + "id": "point_1766806974770_1766807034453_4x9u3hnsg", + "x": 0.4505, + "y": 0.5688888888888889 + } + ], + "type": "point" + }, + "point_1766806983176": { + "instances": [ + { + "id": "point_1766806983176_1766807070805_sagi73gvt", + "x": 0.7895000000000001, + "y": 0.5742222222222222 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹下边移动靠近笔。爪夹合拢抓取笔。开始向爪夹的左边移动笔。把笔放到盘子中。松开爪夹，笔被放到盘中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹没有开始移动。爪夹即将向笔移动。因此进度为0%。", + "state_description": "爪夹没有移动。\n为完成将笔夹起放置盘中的任务应当：向爪夹的下边移动靠近笔。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的下侧移动。", + "annotations": { + "bbox_1766806969879": { + "instances": [ + { + "height": 0.3549405218042376, + "id": "bbox_1766806969879_1768628984593_6yc1noodg", + "width": 0.14536166071661066, + "x": 0.32224748356350025, + "y": 0.22058374574621273 + } + ], + "type": "bbox" + }, + "point_1766806974770": { + "instances": [ + { + "id": "point_1766806974770_1768811083289_n9ewt8uvv", + "x": 0.45549999999999996, + "y": 0.5528888888888889 + } + ], + "type": "point" + }, + "point_1766806983176": { + "instances": [ + { + "id": "point_1766806983176_1768811085189_meg6nzwan", + "x": 0.7955, + "y": 0.5795555555555556 + } + ], + "type": "point" + } + }, + "correction_plan": 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"bbox_1768457604574", + "name": "紫色球" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766812868675", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766812894228", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006521.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006521.json new file mode 100644 index 0000000000000000000000000000000000000000..939e124cdeb000b8cefab26908aea3f13ab4363f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006521.json @@ -0,0 +1,213 @@ +{ + "task_description": "爪夹移动靠近关闭抽屉。\n开始移动：0%\n爪夹向下方移动：20%\n⽖夹接近抽屉：50%\n爪夹移动抽屉：80%\n爪夹关闭抽屉：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766816319380": { + "instances": [ + { + "height": 0.5486036017066117, + "id": "bbox_1766816319380_1766816390608_ljgayhv6d", + "width": 0.3154850394834153, + "x": 0.3871418038242126, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹下方移动。到达抽屉正右方。爪夹向爪夹左边移动关闭抽屉。抽屉被完全关闭。", + "error_success_analysis": "爪夹暂未移动。方便爪夹向爪夹下方移动。", + "frame": 22, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹还未移动。因此进度提升至0%。", + "state_description": "爪夹没有移动。\n为完成移动关闭抽屉的任务应当：向爪夹下方移动，到达抽屉正右方。", + "time": 0.742577319587629 + }, + { + "action_description": "爪夹向下接近抽屉。", + "annotations": { + "bbox_1766816319380": { + "instances": [ + { + "height": 0.5366070125628762, + "id": "bbox_1766816319380_1768533984253_7ttbt9ibo", + "width": 0.32299326893616925, + "x": 0.3836426170029071, + "y": 0.17096335024927786 + } + ], + "type": "bbox" + }, + "point_1766816355365": { + "instances": [ + { + "id": 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"type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "完全关闭抽屉。抽屉被完全关闭。\n已完成爪夹移动靠近关闭抽屉的任务。", + "frame": 123, + "progress": 100, + "progress_explanation": "与上一进度相比，抽屉已经被完全关闭。因此进度提升至100%。", + "state_description": "抽屉被完全关闭。\n已完成爪夹移动靠近关闭抽屉。", + "time": 4.114074933227942 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766816319380", + "name": "抽屉" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766816355365", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766816364546", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006029.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006029.json new file mode 100644 index 0000000000000000000000000000000000000000..fbdf5700730d4decb65777e343b2be640e3c3b5d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006029.json @@ -0,0 +1,293 @@ +{ + "task_description": "爪夹开抓取木块移动至桌面上目标位置\n开始移动：0%\n⽖夹接近木块：20%\n爪夹抓紧木块：40%\n爪夹抓紧木块靠近桌子左侧：60%\n爪夹移动木块至桌子左侧：80%\n爪夹张开，木块被放在桌子左侧：100%", + "progress_points": [ + { + "action_description": "爪夹准备移动。", + "annotations": { + "bbox_1766817764280": { + "instances": [ + { + "height": 0.056888888888888864, + "id": "bbox_1766817764280_1766817816992_dipu11xrv", + "width": 0.038999999999999965, + "x": 0.5395000000000001, + "y": 0.3662222222222222 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹下方移动。处在木块正上方，爪夹合拢抓取木块。向爪夹下方移动。将木块放置桌面上。松开爪夹。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹还没移动。因此进度为0%。", + "state_description": "爪夹没有移动。\n为完成把木块移动至目标位置应当：向爪夹下方移动。", 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006109.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006109.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6f9f4a31964b0979c8f3582cf7b0d7b639fabc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006109.json @@ -0,0 +1,590 @@ +{ + "task_description": "爪夹抓起黄色盘子使其落入中间架子上:\n开始移动:0%\n爪夹靠近黄色盘子:20%\n爪夹抓取黄色盘子:40%\n爪夹抓住黄色盘子接近中间架子:60%\n爪夹将黄色盘子放入中间架子上:80%\n爪夹松开，黄色盘子落入中间架子上:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766818568617": { + "instances": [ + { + "height": 0.08888888888888886, + "id": "bbox_1766818568617_1766818932181_ibm73lcl8", + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006249.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7e881d0ce46b3373d62f63dc8d3f1a5aa3e892 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006249.json @@ -0,0 +1,327 @@ +{ + "task_description": "爪夹移动关闭抽屉\n开始移动：0%\n爪夹接近抽屉：40%\n爪夹推动抽屉：70%\n爪夹关闭抽屉：100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "point_1766829918700": { + "instances": [ + { + "id": "point_1766829918700_1766829952606_3n11afca7", + "x": 0.45949999999999996, + "y": 0.5599999999999999 + } + ], + "type": "point" + }, + "point_1766829925434": { + "instances": [ + { + "id": "point_1766829925434_1766829954768_0594zgmkt", + "x": 0.7955, + "y": 0.5937777777777777 + } + ], + "type": "point" + } + }, + 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0000000000000000000000000000000000000000..6a35fdeec8b9fa2aedf203c91885d0c7cc7e4269 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007976.json @@ -0,0 +1,303 @@ +{ + "task_description": "爪夹移动锅盖至锅盖原位置柜台右方。\n开始移动：0%\n爪夹接近锅盖把⼿：20%\n爪夹抓紧锅盖把⼿：40%\n爪夹移动锅盖把⼿接近柜台右方：60%\n爪夹移动锅盖把⼿放在柜台右方：80%\n爪夹松开，锅盖把⼿放在柜台右方：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766972379041": { + "instances": [ + { + "height": 0.26657356408861393, + "id": "bbox_1766972379041_1766972597172_io8ti9ct8", + "width": 0.2480745885273623, + "x": 0.5454254114726378, + "y": 0.4106666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前面下方移动。爪夹合拢抓取锅盖。爪夹抬升，右移，下降。锅盖即将被放置在原位置右方。松开爪夹。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹还没有开始移动。因此进度为0%。", + "state_description": 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file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008620.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008620.json new file mode 100644 index 0000000000000000000000000000000000000000..d698ec69ccdb7e23f8c24c9c9cea29abc5f74e75 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008620.json @@ -0,0 +1,329 @@ +{ + "task_description": "爪夹抓取衣服后松开，衣服在靠左边抽屉中\n开始移动：0%\n爪夹接近衣服：20%\n爪夹抓紧衣服：40%\n爪夹移动衣服靠近抽屉：60%\n爪夹移动衣服在抽屉上方：80%\n爪夹松开衣服：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766997378261": { + "instances": [ + { + "height": 0.18844444444444444, + "id": "bbox_1766997378261_1766997404007_k3etegycc", + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0006/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009283.json @@ -0,0 +1,578 @@ +{ + "task_description": "爪夹抓取蓝色物体放到抽屉里，合上抽屉。\n开始移动：0%\n爪夹靠近蓝色物体：20%\n爪夹抓取蓝色物体：30%\n爪夹将蓝色物体移动到抽屉正上方:50%\n松开爪夹：60%\n爪夹在抽屉正前方：80%\n爪夹关闭抽屉：100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1767666180428": { + "instances": [ + { + "height": 0.0586666666666666, + "id": "bbox_1767666180428_1767666647696_e35wrsjrc", + "width": 0.04399999999999995, + "x": 0.3865, + "y": 0.45333333333333337 + } + ], + "type": "bbox" + }, + "bbox_1767666835896": { + "instances": [ + { + "height": 0.45155555555555554, + "id": "bbox_1767666835896_1768629565246_z22egsuvc", + "width": 0.43399997351074376, + "x": 0.22433329929606324, + "y": 0.5056049262152779 + } + ], + "type": "bbox" + }, + "point_1767666188257": { + "instances": [ + { + "id": "point_1767666188257_1767666649971_tybsrq3lz", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003643.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003643.json new file mode 100644 index 0000000000000000000000000000000000000000..167a5c83f1924e5705d93aebec172e8dd6f08af8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003643.json @@ -0,0 +1,494 @@ +{ + "task_description": "从桌子上拿起钢笔，然后把它放进银罐里\n开始移动0%\n爪夹靠近钢笔20%\n爪夹抓取钢笔40%\n爪夹抓取钢笔抬升60%\n爪夹抓取钢笔移动至银罐上方80%\n爪夹张开，钢笔被放在银罐内100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方移动，移动至钢笔正上方使爪夹下降，下降至钢笔位置合拢爪夹，抓取钢笔，之后保持爪夹合拢状态抬升并向爪夹方向左方银罐移动，移动至银罐正上方后张开爪夹，使钢笔落入银罐中", + "error_success_analysis": "", + "frame": 19, + "progress": 0, 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"color": "#2196F3" + }, + { + "id": "point_1768552264128", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.wrist_image_left/episode_003615.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.wrist_image_left/episode_003615.json new file mode 100644 index 0000000000000000000000000000000000000000..29dfad60f31c08e31145dca29c47e567e67ada30 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.wrist_image_left/episode_003615.json @@ -0,0 +1,326 @@ +{ + "task_description": "打开咖啡机\n开始移动0%\n爪夹靠近咖啡机25%\n爪夹靠近咖啡机开关50%\n爪夹打开咖啡机75%\n爪夹离开咖啡机100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右后方移动，移动至咖啡机开关上方后下降，下降至咖啡机开关位置继续向下按动咖啡机开关，打开咖啡机。", 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0000000000000000000000000000000000000000..31e0e51475b0c4fae0de3125b490b594566bc115 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-003/observation.images.wrist_image_left/episode_003985.json @@ -0,0 +1,871 @@ +{ + "task_description": "用银勺舀出白盘子里的部分东西\n开始移动0%\n爪夹靠近银勺20%\n爪夹抓取银勺40%\n爪夹抓取银勺靠近白盘子60%\n爪夹将白盘子中的部分东西舀出80%\n爪夹放下银勺100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左后方移动，移动至银勺上方后下降，下降至银勺位置合拢爪夹抓取银勺，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至白盘子上方后下降，下降至银勺触及白盘子中的东西后舀取白盘子中的东西，之后保持爪夹合拢状态向爪夹方向左方移动，舀出白盘子中的东西，然后保持爪夹合拢向爪夹方向左后方移动离开白盘子范围，离开白盘子范围后张开爪夹放下银勺。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离银勺，未开始移动。\n为完成用银勺舀出白盘子里的部分东西的任务应当：爪夹向爪夹方向左后方移动，移动至银勺上方后下降，下降至银勺位置合拢爪夹抓取银勺", + "time": 0.488528, + "annotations": { + "point_1768805964466": { + "type": "point", + "instances": [ + { + 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"爪夹向后移动正确，成功开始拉篮子", + "frame": 214, + "progress": 70, + "progress_explanation": "爪夹开始拉篮子，进度70%", + "state_description": "当前状态为爪夹开始拉篮子\n为了完成把篮子从架子上拿出一些的任务应当：向后移动，松开爪夹。", + "time": 7.121488218406238, + "annotations": { + "bbox_1768551376601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768551376601_1768551406207_nvgx74j1f", + "x": 0.4033332883707709, + "y": 0.5008148057725694, + "width": 0.23699998553466886, + "height": 0.42133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向后移动正确，成功拉出来篮子", + "frame": 228, + "progress": 90, + "progress_explanation": "爪夹将篮子拉出来，进度90%", + "state_description": "当前状态为爪夹将篮子拉出来\n为了完成把篮子从架子上拿出一些的任务应当：松开爪夹。", + "time": 7.611110162855566, + "annotations": { + "bbox_1768551376601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768551376601_1768551403673_8frqlob2o", + "x": 0.39333328898112246, + "y": 0.5008148057725694, + "width": 0.23199998583984457, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006303.json new file mode 100644 index 0000000000000000000000000000000000000000..3c04aeea06d62aa659124cb49730dc6b81a83d65 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006303.json @@ -0,0 +1,333 @@ +{ + "task_description": "爪夹拨动盖子将盒子打开：\n爪夹准备移动：0%\n爪夹向爪夹方向右下方移动：20%\n爪夹靠近盖子：40%\n爪夹拨动盖子：60%\n爪夹拨动盖子向左上方移动：80%\n爪夹拨动盖子将盒子打开：100%", + "progress_points": [ + { + "time": 2.207935, + "frame": 66, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成爪夹拨动盖子将盒子打开的任务应当：爪夹向爪夹方向右下方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右下方移动，爪夹垂直下降靠近盒盖，爪夹拨动盖子，爪夹拨动盖子向爪夹方向左上方移动，爪夹拨动盖子将盒子打开。", + "annotations": { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006962.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006962.json new file mode 100644 index 0000000000000000000000000000000000000000..acd5b8b7226626fcb6421c851431bf9d57039701 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006962.json @@ -0,0 +1,367 @@ +{ + "task_description": "打开三明治机：\n爪夹准备移动：0%\n爪夹靠近三明治机：20%\n爪夹抓取三明治机盖子：40%\n爪夹抓取三明治机盖子向上移动：60%\n爪夹抓取三明治机盖子向右移动：80%\n爪夹松开，此时三明治机被打开：100%", + "progress_points": [ + { + "time": 0.6606945609514336, + "frame": 20, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成打开三明治机的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹垂直下降靠近三明治机，爪夹抓取三明治机盖子，爪夹抓取三明治机盖子向爪夹方向上方移动，爪夹抓取三明治机盖子向爪夹方向右边移动，爪夹抓取三明治机盖向爪夹方向右下方移动，爪夹松开此时三明治机打开。", + "annotations": { + "point_1768620716966": { + "type": "point", + "instances": [ + { + "id": "point_1768620716966_1768620856985_jxuz0mlv2", + "x": 0.42811105785454967, + "y": 0.39730863444010417 + } + ] + }, + "point_1768620717130": { + "type": "point", + "instances": [ + { + "id": "point_1768620717130_1768620858732_xflaul798", + "x": 0.4961110537041593, + "y": 0.4115308566623264 + } + ] + }, + "bbox_1768620716300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620716300_1768620864077_r86cof0tr", + "x": 0.36411106176079944, + "y": 0.6248641899956597, + "width": 0.2559999843750009, + "height": 0.3306666666666667 + } + ] + } + } + }, + { + "time": 1.513202, + "frame": 45, + "progress": 10, + "action_description": "当前爪夹向爪夹方向前下方移动。", + "state_description": 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"progress": 20, + "action_description": "当前爪夹垂直下降靠近三明治机。", + "state_description": "当前爪夹张开，此时爪夹靠近三明治机。为完成打开三明治机的任务应当：爪夹合拢抓取三明治机盖子。", + "progress_explanation": "此时爪夹靠近三明治机，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近三明治机。", + "correction_plan": "为完成打开三明治机的任务应当：", + "annotations": { + "point_1768620716966": { + "type": "point", + "instances": [ + { + "id": "point_1768620716966_1768620824166_jkc6mcqab", + "x": 0.43611105736626843, + "y": 0.8204197455512153 + } + ] + }, + "bbox_1768620716300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620716300_1768620829866_2u6d3g27i", + "x": 0.3741110611504479, + "y": 0.6390864122178819, + "width": 0.24699998492431732, + "height": 0.3271111111111112 + } + ] + } + } + }, + { + "time": 3.983001, + "frame": 119, + "progress": 40, + "action_description": "当前爪夹合拢抓取三明治机盖子。", + "state_description": "当前爪夹合拢抓取三明治机盖子，为完成打开三明治机的任务应当：爪夹抓取三明治机盖子向爪夹方向上方移动。", + "progress_explanation": "当前爪夹合拢抓取三明治机盖子。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取三明治机盖子。", + "correction_plan": "爪夹抓取三明治机盖子向爪夹方向上方移动，爪夹抓取三明治机盖子向爪夹方向右边移动，爪夹抓取三明治机盖向爪夹方向右下方移动，爪夹松开此时三明治机打开。", + "annotations": { + "point_1768620716966": { + "type": "point", + "instances": [ + { + "id": "point_1768620716966_1768620809914_s9bf02jao", + "x": 0.43811105724419813, + "y": 0.791975301106771 + } + ] + }, + "point_1768620717130": { + "type": "point", + "instances": [ + { + "id": "point_1768620717130_1768620811500_yxuavt91a", + "x": 0.46311105571831934, + "y": 0.7670864122178819 + } + ] + }, + "bbox_1768620716300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620716300_1768620816704_64eb6kg1b", + "x": 0.3721110612725182, + "y": 0.646197523328993, + "width": 0.24699998492431732, + "height": 0.3111111111111111 + } + ] + } + } + }, + { + "time": 5.624199540386174, + "frame": 169, + "progress": 60, + "action_description": "当前爪夹合拢抓取三明治机盖子向爪夹方向上方移动。", + "state_description": "当前爪夹合拢抓取三明治机盖子，此时三明治机盖子被微微打开，为完成打开三明治机的任务应当：爪夹抓取三明治机盖子向爪夹方向右边移动。", + "progress_explanation": "此时三明治机盖子被微微打开，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取三明治盖子向爪夹方向上方移动，使三明治机盖子被微微打开。", + "correction_plan": "爪夹抓取三明治机盖子向爪夹方向右边移动，爪夹抓取三明治机盖向爪夹方向右下方移动，爪夹松开此时三明治机打开。", + "annotations": { + "point_1768620716966": { + "type": "point", + "instances": [ + { + "id": "point_1768620716966_1768620787940_41pink0zk", + "x": 0.4871110542534757, + "y": 0.6426419677734375 + } + ] + }, + "point_1768620717130": { + "type": "point", + "instances": [ + { + "id": "point_1768620717130_1768620789846_gx739iqv2", + "x": 0.5131110526665617, + "y": 0.623086412217882 + } + ] + }, + "bbox_1768620716300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620716300_1768620797580_hlskgciiw", + "x": 0.3741110611504479, + "y": 0.527086412217882, + "width": 0.23599998559570395, + "height": 0.4355555555555554 + } + ] + } + } + }, + { + "time": 7.3486, + "frame": 220, + "progress": 80, + "action_description": 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"name": "三明治机", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768620716966", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768620717130", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006056.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006056.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2918cee1aabafd00e56749f7adcc6e7024d4a3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006056.json @@ -0,0 +1,464 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006340.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006340.json new file mode 100644 index 0000000000000000000000000000000000000000..1ecdb2a7a9574afb803e2c3cfee347b3bc229118 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006340.json @@ -0,0 +1,746 @@ +{ + "task_description": "抓取瓶子放至桌面：\n爪夹准备移动：0%\n爪夹靠近瓶子：20%\n爪夹抓取瓶子：40%\n爪夹抓取瓶子移动至桌面正上方：60%\n爪夹抓取瓶子垂直下降靠近桌面：80%\n爪夹松开将瓶子放在桌面：100%", + "progress_points": [ + { + "time": 1.164999, + "frame": 35, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取瓶子放至桌面的任务应当：爪夹向爪夹方向后下方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006551.json new file mode 100644 index 0000000000000000000000000000000000000000..e6746cb66ab85e000cb7b07b9dc09b67b67443fe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006551.json @@ -0,0 +1,465 @@ +{ + "task_description": "打开垃圾桶：\n爪夹准备移动:0%\n爪夹接近按钮:20%\n爪夹靠近按钮:50%\n爪夹按下按钮：80%\n爪夹抬起垃圾桶完全被打开：100%", + "progress_points": [ + { + "time": 0.860263, + "frame": 26, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成打开垃圾桶的任务应当：爪夹向爪夹方向右下方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前爪夹进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左下方移动，爪夹垂直下降，爪夹向爪夹方向右边移动，爪夹向爪夹左下方移动，爪夹向爪夹方向后方移动，爪夹向爪夹方向前下方移动靠近按钮，爪夹垂直下降按下按钮，爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464879": { 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"annotations": { + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637606201_scya5thh1", + "x": 0.1821110728691972, + "y": 0.001259250217013889, + "width": 0.36099997796630995, + "height": 0.5333333333333333 + } + ] + }, + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637614051_g22wxsu5b", + "x": 0.43311105754937385, + "y": 0.5737036946614583 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637616194_d1wiuo1mn", + "x": 0.773111036797422, + "y": 0.5719259168836806 + } + ] + } + } + }, + { + "time": 2.784133, + "frame": 84, + "progress": 10, + "action_description": "当前爪夹垂直下降接近垃圾桶。", + "state_description": "当前爪夹张开，此时爪夹垂直距离接近垃圾桶。为完成打开垃圾桶的任务应当：爪夹向爪夹方向右边移动。", + "progress_explanation": "此时爪夹垂直距离接近垃圾桶，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功垂直下降，使爪夹比上一阶段更加接近垃圾桶。", + "correction_plan": "爪夹向爪夹方向右边移动，爪夹向爪夹左下方移动，爪夹向爪夹方向后方移动，爪夹向爪夹方向前下方移动靠近按钮，爪夹垂直下降按下按钮，爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637585969_k3wojmta2", + "x": 0.43311105754937385, + "y": 0.5665925835503473 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637587691_t6s5378sn", + "x": 0.7781110364922463, + "y": 0.5701481391059028 + } + ] + }, + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637594258_22gni8a56", + "x": 0.015111083062067682, + "y": 0.001259250217013889, + "width": 0.52399996801758, + "height": 0.7004444444444445 + } + ] + } + } + }, + { + "time": 3.8209923338748686, + "frame": 115, + "progress": 15, + "action_description": "当前爪夹垂直下降。", + "state_description": "当前爪夹张开，此时爪夹比上一阶段更加靠近垃圾桶，为完成打开垃圾桶的任务应当：爪夹向爪夹方向右方移动。", + "progress_explanation": "此时爪夹比上一阶段更加靠近垃圾桶，因此当前进度提升至15%。", + 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"progress_explanation": "爪夹向爪夹方向右边移动。因此当前进度提升至17%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右边移动。", + "correction_plan": "爪夹向爪夹左下方移动，爪夹向爪夹方向后方移动，爪夹向爪夹方向前下方移动靠近按钮，爪夹垂直下降按下按钮，爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637552253_wc6runibl", + "x": 0.43311105754937385, + "y": 0.5701481391059028 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637553858_1owydly8j", + "x": 0.7821110362481056, + "y": 0.568370361328125 + } + ] + }, + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637559273_skldr2tvk", + "x": 0.002111083855524667, + "y": 0.10792591688368057, + "width": 0.41399997473144684, + "height": 0.8622222222222223 + } + ] + } + } + }, + { + "time": 6.2486, + "frame": 187, + "progress": 20, + "action_description": "当前爪夹向爪夹方向左下方移动靠近按钮。", + "state_description": 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"state_description": "当前爪夹张开，此时爪夹依然位于按钮正上方。为完成打开垃圾桶的任务应当：爪夹向爪夹方向前下方移动靠近按钮。", + "progress_explanation": "当前爪夹向爪夹方向后方略微移动，此时爪夹依然位于按钮正上方。因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向后方略微移动。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近按钮，爪夹垂直下降按下按钮，爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637523434_ije9883za", + "x": 0.4341110574883388, + "y": 0.5665925835503473 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637525022_6k14wa0cy", + "x": 0.7771110365532814, + "y": 0.6021481391059028 + } + ] + }, + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637530353_3iv2s3h0r", + "x": 0.002111083855524667, + "y": 0.001259250217013889, + "width": 0.5959999636230491, + "height": 0.9866666666666666 + } + ] + } + } + }, + { + "time": 8.143065, + "frame": 244, + "progress": 50, + "action_description": "爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹靠近按钮。为完成打开垃圾桶的任务应当：爪夹垂直下降按下按钮。", + "progress_explanation": "此时爪夹靠近按钮。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹向爪夹方向前下方移动成功靠近垃圾桶。", + "correction_plan": "爪夹垂直下降按下按钮，爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637507330_xo2ga6jld", + "x": 0.4341110574883388, + "y": 0.5665925835503473 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637509356_599jn76vv", + "x": 0.7831110361870705, + "y": 0.5754814724392361 + } + ] + }, + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637519338_rp9vr7z0e", + "x": 0.0011110839165598195, + "y": -0.000518527560763889, + "width": 0.4929999699096698, + "height": 0.9671111111111111 + } + ] + } + } + }, + { + "time": 8.530333, + "frame": 256, + "progress": 80, + "action_description": "当前爪夹垂直下降按下按钮。", + "state_description": "当前爪夹张开，此时爪夹左按下按钮，为完成打开垃圾桶的任务应当：爪夹抬起垃圾桶被完全打开。", + "progress_explanation": "此时爪夹左按下按钮，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功将按钮按下。", + "correction_plan": "爪夹抬起垃圾桶被完全打开。", + "annotations": { + "point_1768637464748": { + "type": "point", + "instances": [ + { + "id": "point_1768637464748_1768637493096_0ikjos889", + "x": 0.4321110576104091, + "y": 0.568370361328125 + } + ] + }, + "point_1768637464879": { + "type": "point", + "instances": [ + { + "id": "point_1768637464879_1768637494846_081kaa4tx", + "x": 0.7811110363091408, + "y": 0.5772592502170139 + } + ] + }, + "bbox_1768637464087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768637464087_1768637502824_82lz8n2lr", + "x": 0.0011110839165598195, + "y": -0.000518527560763889, + "width": 0.4789999707641619, + "height": 0.9671111111111111 + } + ] + } + } + }, + { + "time": 9.514627, + "frame": 285, + "progress": 100, + "action_description": "当前爪夹抬起，垃圾桶被完全打开。", + 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