diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-105851-bad-mouse-round container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-105851-bad-mouse-round container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8c738ebb77946ecff6ce1b4fdc6f00cc1a464e2c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-105851-bad-mouse-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,504 @@ +{ + "task_description": "将鼠标放入透明盆里\n准备开始移动：0%\n开始接近鼠标：20%\n触碰到鼠标：50%\n将鼠标夹起：75%\n将鼠标移动至透明盆上方：90%\n将爪夹放入透明盆：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766558564578": { + "instances": [ + { + "height": 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"爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成将鼠标放入透明盆中的任务应当：向右侧移动至鼠标上方，向下移动，合拢爪夹。", + "time": 1.91746579109589 + }, + { + "action_description": "爪夹向前移动，然后向下。", + "annotations": { + "bbox_1766558564578": { + "instances": [ + { + "height": 0.07216537226630114, + "id": "bbox_1766558564578_1766558617027_t4ist60v6", + "width": 0.12886770248487195, + "x": 0.21005431572303954, + "y": 0.5153476135113753 + } + ], + "type": "bbox" + }, + "bbox_1766558564770": { + "instances": [ + { + "height": 0.39690954746465595, + "id": "bbox_1766558564770_1766558621323_tww7s0mb5", + "width": 0.3170145481127851, + "x": 0.6778440757431248, + "y": 0.43974579494667887 + } + ], + "type": "bbox" + }, + "point_1766558565866": { + "instances": [ + { + "id": "point_1766558565866_1766558623627_i2hukio4o", + "x": 0.36727291275458335, + "y": 0.5376845144509447 + } + ], + "type": "point" + }, + "point_1766558566091": { + "instances": [ + { + "id": "point_1766558566091_1766558625857_99xlc3kn0", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-114435-bad-blue-items-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,306 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布将其放在透明盆中：\n爪夹准备开始移动：0%\n爪夹接近带着透明袋子的蓝色桌布：20%\n爪夹触碰带着透明袋子的蓝色桌布：50%\n爪夹抓起并移动带着透明袋子的蓝色桌布：75%\n爪夹将带着透明袋子的蓝色桌布移动至透明盆上方：90%\n爪夹松开，带着透明袋子的蓝色桌布落入透明盆中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766567708053": { + "instances": [ + { + "height": 0.3900366548678655, + "id": "bbox_1766567708053_1766567751547_bs2u2hx0l", + "width": 0.331189995386121, + "x": 0.1649506198533343, + "y": 0.45215518290099493 + } + ], + "type": "bbox" + }, + "bbox_1766567708236": { + "instances": [ + { + "height": 0.40378244006144665, + "id": "bbox_1766567708236_1766567759773_s3c5lh3p2", + "width": 0.2912410076158107, + "x": 0.5489763732582528, + "y": 0.3181337772635786 + } + ], + "type": "bbox" + }, + "point_1766567709070": { + "instances": [ + { + "id": "point_1766567709070_1766567761909_xppu0sqbe", + "x": 0.4407275031709603, + "y": 0.3576529096951245 + } + ], + "type": "point" + }, + "point_1766567709228": { + "instances": [ + { + "id": "point_1766567709228_1766567763996_4is35ahpo", + "x": 0.5412443111091605, + "y": 0.35249824024753157 + } + ], + "type": "point" + } + }, + "correction_plan": "向右侧移动至带着透明袋子的蓝色桌布上方，向下移动。合拢爪夹。夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向右侧移动至带着透明袋子的蓝色桌布上方，向下移动。合拢爪夹。", + "time": 1.1344994920156741 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1766567708053": { + "instances": [ + { + "height": 0.3848819854202726, + "id": "bbox_1766567708053_1766567783451_0g3rrz30v", + "width": 0.36469559803218765, + "x": 0.1430431104309061, + "y": 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"当前状态为爪夹张开，朝向下。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向下移动。合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方。", + "time": 3.9120701367688477 + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "annotations": { + "bbox_1766567708053": { + "instances": [ + { + "height": 0.38831843171866787, + "id": "bbox_1766567708053_1766567789431_13fxejaz4", + "width": 0.35954088993279276, + "x": 0.15077517257999842, + "y": 0.44012762085661145 + } + ], + "type": "bbox" + }, + "bbox_1766567708236": { + "instances": [ + { + "height": 0.4089371095090396, + "id": "bbox_1766567708236_1766567792499_75o4aa9zr", + "width": 0.3105711629885414, + "x": 0.5438216651588579, + "y": 0.3061062152191951 + } + ], + "type": "bbox" + }, + "point_1766567709070": { + "instances": [ + { + "id": "point_1766567709070_1766567794261_3o0nt88fc", + "x": 0.4123766086242885, + "y": 0.5294752246148889 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。", + "error_success_analysis": 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"爪夹将带着透明袋子的蓝色桌布夹至空中，进度75%。", + "state_description": "当前状态为爪夹将带着透明袋子的蓝色桌布夹到空中。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向上移动，向左侧移动至透明盆上方。", + "time": 9.623694279500722 + }, + { + "action_description": "爪夹向右侧移动。", + "annotations": { + "bbox_1766567708053": { + "instances": [ + { + "height": 0.4776660354769453, + "id": "bbox_1766567708053_1766567826266_q6ad5c0s2", + "width": 0.2164977401745849, + "x": 0.0064433457969418125, + "y": 0.024317618750781297 + } + ], + "type": "bbox" + }, + "bbox_1766567708236": { + "instances": [ + { + "height": 0.39003665486786543, + "id": "bbox_1766567708236_1766567834026_iwcjvnicc", + "width": 0.307993808938844, + "x": 0.5360896030097656, + "y": 0.3370342319047527 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。", + "error_success_analysis": "爪夹向左移动错误。", + "frame": 365, + "progress": -10, + "progress_explanation": "爪夹远离透明盆，进度-10%。", + "state_description": "当前状态为爪夹夹着带着透明袋子的蓝色桌布，朝向右侧。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。", + "time": 12.166540644415603 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1766567708053": { + "instances": [ + { + "height": 0.16838586862136917, + "id": "bbox_1766567708053_1766567839018_3lri3xmtj", + "width": 0.1301563795097207, + "x": 0.08247529026301628, + "y": 0.6686512996998982 + } + ], + "type": "bbox" + }, + "bbox_1766567708236": { + "instances": [ + { + "height": 0.40034599376305136, + "id": "bbox_1766567708236_1766567845377_8azoucx8i", + "width": 0.3234579332370287, + "x": 0.5283575408606732, + "y": 0.3250066698603692 + } + ], + "type": "bbox" + }, + "point_1766567709228": { + "instances": [ + { + "id": "point_1766567709228_1766567841440_v0399v68f", + "x": 0.17397135902727537, + "y": 0.03806340394436246 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开错误。", + "frame": 431, + "progress": -50, + "progress_explanation": "带着透明袋子的蓝色桌布掉出桌面，进度-50%。", + "state_description": "当前状态为爪夹张开，带着透明袋子的蓝色桌布掉出桌面。", + "time": 14.357300589573034 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766567708053", + "name": "带着透明袋子的蓝色桌布" + }, + { + "color": "#FF9800", + "id": "bbox_1766567708236", + "name": "透明盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766567709070", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766567709228", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-143526-mix-white items-white tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-143526-mix-white items-white tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..41f38929d6863da465a80b98fc2cdae61f183fee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-143526-mix-white items-white tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,1026 @@ +{ + "task_description": "将白色物品放入白色托盘\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓住白色物品靠近白色托盘60%\n爪夹将白色物品移入白色托盘80%\n爪夹松开，白色物品落入白色托盘100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1766997399943": { + "instances": [ + { + "height": 0.4680000000000001, + "id": "bbox_1766997399943_1766997423466_iu1mtbegy", + "width": 0.3, + "x": 0.4425, + "y": 0.45066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766997400248": { + "instances": [ + { + "height": 0.6853333333333335, + "id": "bbox_1766997400248_1766997433155_pk72kto1k", + "width": 0.449, + "x": 0.0235, + "y": 0.26666666666666666 + } + ], + "type": "bbox" + }, + 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"error_success_analysis": "爪夹打开后逐步抬升，白色物品落入电饭煲的内胆中", + "frame": 904, + "progress": 100, + "progress_explanation": "爪夹松开并回撤，白色物品落入电饭煲的内胆中100%", + "state_description": "爪夹持续上升，白色物品落入电饭煲的内胆中\n完成捡起白色物品并将它放入电饭煲的内胆中的任务完成", + "time": 30.133333333333333, + "annotations": { + "bbox_1766569748572": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569748572_1766570332089_8q7nhch7j", + "x": 0.0835, + "y": 0.17600000000000002, + "width": 0.221, + "height": 0.4026666666666666 + } + ] + }, + "bbox_1766569753581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569753581_1766570345832_fwfvnsts2", + "x": 0.1295, + "y": 0.29333333333333333, + "width": 0.221, + "height": 0.2746666666666666 + } + ] + }, + "point_1766569759744": { + "type": "point", + "instances": [ + { + "id": "point_1766569759744_1766570356024_8bo04ed6c", + "x": 0.0455, + "y": 0.16933333333333334 + } + ] + }, + "point_1766569768548": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-170910-mix-white items-round container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..74a9ae0884855fcef6ced8f3613a8accb3e7dcac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-170910-mix-white items-round container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,1004 @@ +{ + "task_description": "捡起白色物品，把它放进透明塑料盒里。\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓取白色物品接近透明塑料盒60%\n爪夹将白色物品放入透明塑料盒80%\n爪夹松开，白色物品落入透明塑料盒100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1766632720334": { + "instances": [ + { + "height": 0.3440000000000001, + "id": "bbox_1766632720334_1766632788453_78qvmtq47", + "width": 0.238, + "x": 0.6465000000000001, + "y": 0.2773333333333333 + } + ], + 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+ ] + } + } + }, + { + "action_description": "爪夹向前移动，略微下降高度", + "correction_plan": "爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中", + "error_success_analysis": "爪夹向前移动靠近橙色物品", + "frame": 517, + "progress": 10, + "progress_explanation": "爪夹向左移动靠近橙色物品，进度提升为10%", + "state_description": "爪夹张开，位于橙色物品和电饭煲内胆的中上方\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品", + "time": 17.233333333333334, + "annotations": { + "point_1766642077809": { + "type": "point", + "instances": [ + { + "id": "point_1766642077809_1766646939344_nv1je6c2s", + "x": 0.6915, + "y": 0.5373333333333333 + } + ] + }, + "point_1766642067465": { + "type": "point", + "instances": [ + { + "id": "point_1766642067465_1766646941269_moiu6dgms", + "x": 0.6045, + "y": 0.5226666666666666 + } + ] + }, + "bbox_1766642058708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642058708_1766646947318_u4ludhhw8", + "x": 0.6995, + "y": 0.19733333333333333, + "width": 0.18999999999999995, + "height": 0.26 + } + ] + }, + "bbox_1766642051565": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642051565_1766646961109_l6aa45cr8", + "x": 0.6635000000000001, + "y": 0.528, + "width": 0.3089999999999999, + "height": 0.43866666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方移动", + "correction_plan": "调整爪夹角度垂直桌面，爪夹继续向后移动至橙色物品侧边的上方后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中", + "error_success_analysis": "爪夹向左后方移动到橙色物品上方", + "frame": 552, + "progress": 15, + "progress_explanation": "爪夹向左边的橙色物品靠近，进度提升为15%", + "state_description": "爪夹打开，在橙色物品的上方\n为了完成把橙色物品放入电饭煲内胆中的任务：调整爪夹角度垂直桌面，爪夹继续向后移动至橙色物品侧边的上方", + "time": 18.4, + "annotations": { + "bbox_1766642051565": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642051565_1766647111778_tuzs89vb3", + "x": 0.6615, + "y": 0.5306666666666666, + "width": 0.31099999999999994, + "height": 0.4373333333333333 + } + ] + }, + "point_1766642067465": { + "type": "point", + "instances": [ + { + "id": "point_1766642067465_1766647130394_ra48owu8e", + "x": 0.8435, + "y": 0.5026666666666667 + } + ] + }, + "point_1766642077809": { + "type": "point", + "instances": [ + { + "id": "point_1766642077809_1766647133134_zbrs65xf4", + "x": 0.9015000000000001, + "y": 0.44933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向左后移动到玉米前上方", + "correction_plan": "爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中", + "error_success_analysis": "爪夹向左后移动偏离目标物橙色物品", + "frame": 634, + "progress": 10, + "progress_explanation": "爪夹向左后偏离橙色物品方向移动，进度下降为10%", + "state_description": "爪夹张开，位于橙色物品和电饭煲内胆的中上方\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品", + "time": 21.122319587628866, + "annotations": { + "bbox_1766642051565": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642051565_1766647454290_lub4p2xqb", + "x": 0.6605000000000001, + "y": 0.5319999999999999, + "width": 0.30999999999999994, + "height": 0.43600000000000005 + } + ] + }, + "point_1766642067465": { + "type": "point", + "instances": [ + { + "id": "point_1766642067465_1766647471302_hmrav7o84", + "x": 0.7405, + "y": 0.492 + } + ] + }, + "point_1766642077809": { + "type": "point", + "instances": [ + { + "id": "point_1766642077809_1766647473820_b358699yd", + "x": 0.7795, + "y": 0.4266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方想移动至电饭煲内胆侧边", + "correction_plan": "爪夹向上抬升后，爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中", + "error_success_analysis": "爪夹没有继续朝橙色物品的侧边上方移动", + "frame": 717, + "progress": 5, + "progress_explanation": "爪夹向橙色物品的后方移动，远离橙色物品，进度降低为5%", + "state_description": "爪夹打开，右侧爪夹位于电饭煲内胆里侧\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向上抬升并向前移动至橙色物品的侧边上方", + "time": 23.9, + "annotations": { + "bbox_1766642051565": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642051565_1766647769870_xleygqk7y", + "x": 0.6625, + "y": 0.528, + "width": 0.30999999999999994, + "height": 0.44 + } + ] + }, + "bbox_1766642058708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766642058708_1766647782052_l16m0r0io", + "x": 0.6925, + "y": 0.20133333333333334, + "width": 0.19699999999999998, + "height": 0.24800000000000003 + } + ] + }, + "point_1766642067465": { + "type": "point", + "instances": [ + { + "id": "point_1766642067465_1766647792568_wbl567oos", + "x": 0.8295, + "y": 0.42933333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766642051565", + "name": "橙色物品" + }, + { + "color": "#FF9800", + "id": "bbox_1766642058708", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766642067465", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766642077809", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-173757-good-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-173757-good-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..38b5feda161f23ed7bddb27d319d1dad94469981 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-173757-good-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,100 @@ +{ + "task_description": "抓取白色勺子并放进快递箱里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近铁盒：60%\n爪夹将蓝色方块放入铁盒：80%\n爪夹松开蓝色方块落入铁盒：100%", + "progress_points": [ + { + "time": 1.459333, + "frame": 44, + "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，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹升高，调整爪夹角度接近垂直于桌面并移动到白色勺子正上方。", + "progress_explanation": "当前为初始状态，爪夹张开未移动，远离白色勺子。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹升高，调整爪夹角度接近垂直于桌面并移动到白色勺子正上方" + }, + { + "time": 3.5194474113989638, + "frame": 106, + "progress": 20, + "action_description": "爪夹垂直升高并调整爪夹角度，使其接近垂直于桌面，然后爪夹垂直向下靠近白色勺子。", + "state_description": "爪夹垂直升高并调整角度垂直于桌面，然后爪夹垂直向下靠近白色勺子/\n为完成抓取白色勺子放入快递箱的任务应当：爪夹合拢抓取到白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。", + "progress_explanation": "爪夹垂直升高并调整角度接近垂直于桌面，垂直向下靠近白色勺子。方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直升高并调整角度接近垂直于桌面，然后爪夹垂直向下移动，靠近快递箱，方便抓取。", + "correction_plan": "爪夹合拢抓取白色勺子，爪夹抓紧白色勺子垂直升高并向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。" + }, + { + "time": 4.976718605181347, + "frame": 149, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到白色勺子，爪夹角度预测桌面接近垂直。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。", + "progress_explanation": "爪夹抓取到白色勺子。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取白色勺子。", + "correction_plan": "爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱中。" + }, + { + "time": 6.928912091191711, + "frame": 208, + "progress": 60, + "action_description": "爪夹抓紧白色勺子，垂直升高。", + "state_description": "爪夹合拢抓紧白色勺子，垂直升高，水平上接近了快递箱。\n为完成抓取白色勺子放入快递箱的任务应当：继续向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。", + "progress_explanation": "爪夹合拢夹紧白色勺子并垂直升高，水平上接近了快递箱。缩短了与快递箱的距离。因此进度提升为60%", + "error_success_analysis": "爪夹合拢夹紧白色勺子并垂直升高，水平上接近了快递箱。方便将白色勺子放入快递箱。", + "correction_plan": "继续向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。" + }, + { + "time": 8.001243724352332, + "frame": 240, + "progress": 70, + "action_description": "爪夹抓紧白色勺子，向爪夹左前方的快递箱移动。", + "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于快递箱上方。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹移动到快递箱正上方后，下降到合适的位置松开爪夹，使白色勺子落入快递箱。", + "progress_explanation": "爪夹抓紧白色勺子并移动到快递箱正上方，方便将白色勺子放入快递箱。因此进度提升为70%", + "error_success_analysis": "爪夹移动到快递箱正上方，方便将白色勺子放入快递箱中。", + "correction_plan": "爪夹抓紧白色勺子下降到合适的位置后，松开爪夹，使白色勺子落入快递箱中。" + }, + { + "time": 10.448359502590673, + "frame": 313, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，下降到合适位置。\n为完成抓取白色勺子放入快递箱的任务应当：松开爪夹，使白色勺子落入快递箱中。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置，方便白色勺子落入快递箱。因此进度提升为80%", + "error_success_analysis": "爪夹抓紧白色勺子垂直下降到合适位置，方便使白色勺子落入快递箱。", + "correction_plan": "松开爪夹，使白色勺子落入快递箱。" + }, + { + "time": 13.266667, + "frame": 398, + "progress": 100, + "action_description": "爪夹张开，白色勺子落入快递箱。", + "state_description": "爪夹张开，爪夹角度保持垂直于桌面向下。\n爪夹抓取白色勺子放入快递箱的任务完成。", + "progress_explanation": "爪夹张开，白色勺子落入快递箱。任务完成。因此进度提升到100%", + "error_success_analysis": "爪夹张开，白色勺子落入快递箱。", + "correction_plan": "爪夹抓取白色勺子放入快递箱的任务完成，爪夹回到待机位置" + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766202522623", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766202537479", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766202533378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766202562770", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175428-mix-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175428-mix-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..40f8f388fb1cd07cd622c1167c356a13dd9b4fe9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175428-mix-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,186 @@ +{ + "task_description": "抓取白色勺子放入纸箱里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近纸箱：60%\n爪夹将白色勺子放入纸箱：80%\n爪夹松开白色勺子落入纸箱：100%", + "progress_points": [ + { + "time": 1.8421376197404105, + "frame": 55, + "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，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。" + }, + { + "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。", + "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。", + "frame": 119, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。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，靠近白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：接近白色勺子后合拢爪夹。抓紧白色勺子垂直升高爪夹并向爪夹的右前方接近。", + "time": 3.960599114957592, + "annotations": { + "bbox_1766802016031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766802016031_1766802062548_jh08m5hra", + "x": 0.48928992956405865, + "y": 0.3155287070409666, + "width": 0.24172092137826, + "height": 0.12735671861515813 + } + ] + }, + "point_1766802033234": { + "type": "point", + "instances": [ + { + "id": "point_1766802033234_1766802081833_xs619bf5f", + "x": 0.38402436702836473, + "y": 0.3649119244631708 + } + ] + }, + "point_1766802042561": { + "type": "point", + "instances": [ + { + "id": "point_1766802042561_1766802084806_86qzhsjrw", + "x": 0.48734056729487907, + "y": 0.34151987410528456 + } + ] + }, + "bbox_1766802022933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766802022933_1766802106134_pzkc14o6k", + "x": 0.3898724538359033, + "y": 0.5026651099040561, + "width": 0.45225204644964767, + "height": 0.4834357073963146 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动同时爪夹角度接近垂直于垂直于桌面，爪夹合拢。", + "correction_plan": "爪夹垂直升高，爪夹移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹垂直向下未完全接近白色勺子，爪夹合拢未抓取到白色勺子。水平上远离了白色勺子。", + "frame": 182, + "progress": 10, + "progress_explanation": "爪夹合拢未抓取到白色勺子。因此进度降低为10%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢未抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹重新调整角度接近垂直于桌面，爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 6.079060610174774 + }, + { + "action_description": "爪夹升高，合拢后重新张开", + "correction_plan": "爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹合拢未成功抓取到白色勺子，需要重新抓取。", + "frame": 276, + "progress": 0, + "progress_explanation": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子，需要重新抓取白色勺子。因此进度降低为0%", + "state_description": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方。", + "time": 9.210699342234953 + }, + { + "action_description": "爪夹向爪夹左后方移动，同时爪夹角度接近垂直于桌面。", + "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。", + "frame": 442, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子，方便抓取白色勺子。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近白色勺子。准备重新抓取白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：接近白色勺子后合拢爪夹。抓紧白色勺子垂直升高爪夹并向爪夹的右前方接近。", + "time": 14.73712063410586 + }, + { + "action_description": "爪夹角度垂直向下，爪夹合拢未成功", + "correction_plan": "爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹合拢未成功抓取到白色勺子，需要重新抓取。", + "frame": 589, + "progress": 0, + "progress_explanation": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子，需要重新抓取白色勺子。因此进度降低为0%", + "state_description": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，调整爪夹的角度接近垂直于桌面，向下移动抓取白色勺子。", + "time": 19.618792775258495 + }, + { + "time": 21.645147248944497, + "frame": 649, + "progress": 20, + "action_description": "爪夹升高，调整角度接近垂直于桌面。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方。\n为完成抓取白色勺子放入纸箱的任务应当：垂直向下接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。", + "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方，方便抓取白色勺子。因此进度为20%", + "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方，方便抓取白色勺子。", + "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。" + }, + { + "time": 24.03992980875522, + "frame": 721, + "progress": 40, + "action_description": "爪夹垂直向下接近白色勺子，爪夹合拢，抓取白色勺子。", + "state_description": "爪夹垂直向下，爪夹合拢，抓取到了白色勺子。", + "progress_explanation": "爪夹垂直向下，爪夹合拢，抓取到了白色勺子。因此进度提升为40%", + "error_success_analysis": "爪夹合拢，抓取到了白色勺子。", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。" + }, + { + "time": 26.342605347034766, + "frame": 790, + "progress": 60, + "action_description": "爪夹抓紧白色勺子垂直升高，向爪夹前方的纸箱移动。", + "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取白色勺子放入纸箱的任务应当：移动爪夹到纸箱正上方后，松开爪夹。使白色勺子落入纸箱。", + "progress_explanation": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于纸箱正上方。方便白色勺子落入纸箱。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了纸箱的正上方，方便白色勺子落入纸箱。", + "correction_plan": "爪夹垂直向下移动到合适位置停止，松开爪夹，使白色勺子落入纸箱中。" + }, + { + "time": 28.645280885314314, + "frame": 859, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹抓紧白色勺子到达纸箱正上方，爪夹角度接近垂直于桌面。", + "progress_explanation": "爪夹垂直向下移动至合适的位置，爪夹角度接近垂直于桌面，方便白色勺子落入纸箱。因此进度而提升为80%", + "error_success_analysis": "爪夹垂直向下移动至合适的位置，爪夹角度接近垂直于桌面，方便白色勺子落入纸箱", + "correction_plan": "松开爪夹，使白色勺子落入纸箱。" + }, + { + "time": 30.6, + "frame": 918, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开，白色勺子落入纸箱，任务目标完成。", + "progress_explanation": "爪夹张开，白色勺子落入纸箱。任务完成。因此进度为100%。", + "error_success_analysis": "爪夹张开，白色勺子落入纸箱。", + "correction_plan": "任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766802016031", + "name": "白色勺子", + "color": "#4CAF50" + }, + { + "id": "bbox_1766802022933", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766802033234", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766802042561", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-181900-bad-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-181900-bad-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ca6e742ce8791b8f70dbba7d62e67f9b8925c7db --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-181900-bad-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,157 @@ +{ + "task_description": "抓取白色勺子放入纸箱里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近纸箱：60%\n爪夹将白色勺子放入纸箱：80%\n爪夹松开白色勺子落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黄色方块，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 1.832453449100851 + }, + { + "action_description": "爪夹向爪夹左后方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了锤子，远离了白色勺子。", + "frame": 108, + "progress": -20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。方便抓取。因此进度降低为-20%", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了锤子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 3.5994640580511117 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了锤子，爪夹合拢抓取到了锤子。", + "frame": 167, + "progress": -30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到锤子。因此进度降低为-30%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取锤子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动搭配白色勺子的正上方。", + "time": 5.5628091791069565 + }, + { + "action_description": "爪夹夹紧锤子，垂直升高，向爪夹前方的纸箱移动，调整爪夹角度。", + "correction_plan": "爪夹张开，放下锤子，然后爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动。水平上远离了白色勺子。", + "frame": 187, + "progress": -40, + "progress_explanation": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动，未抓取白色勺子因此进度为-40%", + "state_description": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，放下锤子，然后爪夹向爪夹右后方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 6.217257552792239 + }, + { + "action_description": "爪夹夹紧锤子，向爪夹左方移动，张开爪夹。", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹张开，水平上远离了白色勺子，锤子掉落，爪夹重新抓取白色勺子。", + "frame": 220, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了白色勺子，锤子掉落，爪夹重新抓取白色勺子。因此进度为-50%", + "state_description": "爪夹张开，水平上远离了白色勺子，锤子掉落在桌面上。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 7.3298197880572165 + }, + { + "action_description": "爪夹调整角度并向下移动靠近锤子，远离了白色勺子。", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹向下移动远离了白色勺子，需要重新抓取。", + "frame": 241, + "progress": -10, + "progress_explanation": "爪夹向下移动，远离白色勺子，需要重新抓取白色勺子。因此进度为-10%", + "state_description": "爪夹向下移动，远离了白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 8.049712999111026 + }, + { + "action_description": "爪夹合拢，重新调整角度。", + "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹重新调整角度，对白色勺子进行抓取。", + "frame": 295, + "progress": 0, + "progress_explanation": "当前爪夹为合拢状态，重新调整爪夹的角度。因此进度为0%", + "state_description": "当前爪夹为合拢状态，重新调整爪夹的角度。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 9.816723608061286 + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，方便抓取白色勺子。", + "frame": 332, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。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，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 11.060175518063323 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，爪夹合拢抓取到了白色勺子。", + "frame": 402, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。因此进度提升为40%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 13.416189663330336 + }, + { + "action_description": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。", + "correction_plan": "接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。需要重新抓取。", + "frame": 473, + "progress": 30, + "progress_explanation": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。需要重新抓取。因此进度降低为30%", + "state_description": "爪夹抓取到白色勺子后垂直升高，白色勺子掉落在桌面上。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹重新调整角度并重新向下移动，靠近白色勺子。", + "time": 15.772203808597348 + }, + { + "action_description": "爪夹再次合拢", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，爪夹重新合拢抓取到了白色勺子。", + "frame": 520, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹重新合拢抓取到白色勺子。因此进度提升为40%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 17.342879905442025 + }, + { + "action_description": "爪夹夹紧白色勺子，向爪夹右方移动，张开爪夹。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。", + "error_success_analysis": "爪夹张开，白色勺子掉落屏幕外，需要重新抓取黄色方块", + "frame": 599, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面下，需要重新抓取白色勺子，因此进度降低为 -50%。", + "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面下。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 19.96067340018315 + } + ], + "tags": [ + "custom2" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766999675793", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766999681543", + "name": "锤子" + }, + { + "color": "#2196F3", + "id": "bbox_1766999686888", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766999696189", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766999707225", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183101-bad-onion-express-box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183101-bad-onion-express-box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d90cd390da6d532d9abb69dc32c2fd3561bd3bd8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183101-bad-onion-express-box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,145 @@ +{ + "task_description": "抓取洋葱放入纸箱里：\n开始准备移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近纸箱：60%\n爪夹将洋葱放入纸箱：80%\n爪夹松开洋葱落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，重新靠近了洋葱。方便抓取洋葱。因此进度降低为20%", + "frame": 96, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "time": 3.211385695237603 + }, + { + "time": 4.987898084408524, + "frame": 150, + "progress": 20, + "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", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱。因此进度提升为20%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 6.286118676494966, + "frame": 189, + "progress": 30, + "action_description": "爪夹垂直向下移动，接触到洋葱", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "progress_explanation": "爪夹垂直向下移动，接触到洋葱。因此进度提升为30%", + "error_success_analysis": "爪夹垂直向下移动，接触到洋葱。方便抓取洋葱。", + "correction_plan": "爪夹向上移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 8.857970876086956, + "frame": 266, + "progress": 20, + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，重新靠近了洋葱。因此进度降低为20%", + "error_success_analysis": "爪夹角度接近垂直于桌面，重新靠近了洋葱。", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 9.770816055253311, + "frame": 293, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 11.965217204347825, + "frame": 359, + "progress": 50, + "action_description": "爪夹夹紧洋葱，垂直升高，向爪夹左后方的纸箱移动，调整爪夹角度。", + "state_description": "爪夹夹紧洋葱，移动到爪夹左后方的纸箱正上方\n为完成抓取洋葱放入纸箱的任务应当：爪夹水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "progress_explanation": "爪夹夹紧洋葱，移动到了爪夹左后方的纸箱正上方，水平上接近了纸箱。因此进度提升为 50%。", + "error_success_analysis": "爪夹夹紧洋葱，移动到了爪夹左后方的纸箱正上方，水平上接近了纸箱。", + "correction_plan": "爪夹下降至合适位置后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 13.031883854347827, + "frame": 391, + "progress": -50, + "action_description": "爪夹夹紧洋葱，向爪夹左方移动，张开爪夹。", + "state_description": "爪夹张开，水平上远离了洋葱，方块掉落桌面上\n为完成抓取洋葱放入纸箱的任务应当：调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "progress_explanation": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面上，需要重新抓取洋葱，因此进度降低为 -50%。", + "error_success_analysis": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面上，需要重新抓取洋葱", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 14.284057747826088, + "frame": 429, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱。因此进度提升为20%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 15.346964, + "frame": 460, + "progress": 40, + "action_description": "爪夹再次合拢", + "state_description": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取到洋葱。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取到洋葱。", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 17.62318813043478, + "frame": 529, + "progress": -45, + "action_description": "爪夹夹紧洋葱，垂直升高，向爪夹右前方的蓝色盘子移动，调整爪夹角度。", + "state_description": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹左前方的纸箱接近，水平到达纸箱的正上方。", + "progress_explanation": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方，水平上接近了纸箱。因此进度降低为 -45%。", + "error_success_analysis": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方，水平上接近了纸箱。", + "correction_plan": "爪夹向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 20.284457, + "frame": 609, + "progress": -50, + "action_description": "爪夹夹紧洋葱，向爪夹右方移动，张开爪夹。", + "state_description": "爪夹张开，水平上远离了洋葱，方块掉落桌面下\n为完成抓取洋葱放入纸箱的任务应当：调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "progress_explanation": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面下，需要重新抓取洋葱，因此进度降低为 -50%。", + "error_success_analysis": "爪夹张开，洋葱掉落桌面下，需要重新抓取洋葱", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767149486021", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767149486197", + "name": "纸箱", + "color": "#FF9800" + }, + { + "id": "bbox_1767149486336", + "name": "蓝色盘子", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767149502729", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767149502943", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183800-mix-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183800-mix-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..702448c12e96d749d010c97a35629d213371b67d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183800-mix-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取白色勺子放入电饭煲内胆里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近电饭煲内胆：60%\n爪夹将白色勺子放入电饭煲内胆：80%\n爪夹松开白色勺子电饭煲内胆：100%", + "progress_points": [ + { + "time": 2.222871, + "frame": 67, + "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，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 4.454064, + "frame": 134, + "progress": -20, + "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", + "state_description": "爪夹角度接近垂直于桌面，靠近了茄子。准备抓茄子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茄子。因此进度降低为 -20%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了茄子。远离了白色勺子。", + "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 6.06037, + "frame": 182, + "progress": -40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取茄子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "爪夹合拢未抓取到茄子，因此进度为-40%", + "error_success_analysis": "爪夹合拢未抓取到茄子，需要重新抓取zh白色勺子。", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 7.361739130434783, + "frame": 221, + "progress": -20, + "action_description": "爪夹向上移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了茄子。准备抓茄子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茄子。因此进度降低为 -20%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了茄子。远离了白色勺子。", + "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 8.693986, + "frame": 261, + "progress": -40, + "action_description": "爪夹再次合拢", + "state_description": "爪夹合拢未抓取茄子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "爪夹合拢未抓取到茄子，因此进度为-40%", + "error_success_analysis": "爪夹合拢未抓取到茄子，需要重新抓取zh白色勺子。", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 10.510434782608696, + "frame": 315, + "progress": 20, + "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", + "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。", + "correction_plan": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 11.6484, + "frame": 349, + "progress": 30, + "action_description": "爪夹合拢，抓取白色勺子失败", + "state_description": "爪夹合拢，抓取白色勺子失败。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：重新落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近", + "progress_explanation": "爪夹合拢，抓取白色勺子失败，因此进度为30%", + "error_success_analysis": "爪夹合拢，抓取白色勺子失败，需要重新抓取", + "correction_plan": "落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 14.989565217391302, + "frame": 450, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近", + "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 17.166829, + "frame": 515, + "progress": 60, + "action_description": "爪夹夹紧白色勺子，向爪夹右前方移动", + "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面，位于电饭煲内胆正上方。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。", + "progress_explanation": "爪夹夹紧白色勺子，到了爪夹右前方的电饭煲内胆正上方。因此进度提升为 60%。", + "error_success_analysis": "爪夹夹紧白色勺子，到了爪夹右前方的电饭煲内胆正上方。", + "correction_plan": "爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 18.2172, + "frame": 547, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适位置，因此进度提升为 80%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降至合适位置，", + "correction_plan": "松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 20.4, + "frame": 612, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取白色勺子放入电饭煲内胆的任务目标完成。", + "progress_explanation": "爪夹张开，白色勺子落入电饭煲内胆，任务完成。因此进度提升为 100%。", + "error_success_analysis": "爪夹张开，白色勺子落入电饭煲内胆", + "correction_plan": "任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766383713077", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766383714407", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766383715886", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766383716479", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-130957-bad-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-130957-bad-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..baf1163a842ae7b35c330bc8952d93efa8e073da --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-130957-bad-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,100 @@ +{ + "task_description": "抓取白色勺子放入电饭煲内胆里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近电饭煲内胆：60%\n爪夹将白色勺子放入电饭煲内胆：80%\n爪夹松开白色勺子落入电饭煲内胆：100%", + "progress_points": [ + { + "time": 0.46849, + "frame": 14, + "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，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方", + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 3.575230137240055, + "frame": 107, + "progress": 20, + "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", + "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。", + "correction_plan": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 5.500354702898318, + "frame": 165, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近", + "progress_explanation": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 6.639714139716475, + "frame": 199, + "progress": 0, + "action_description": "爪夹张开，未抓取到白色勺子。", + "state_description": "爪夹张开，未抓取到白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近。", + "progress_explanation": "爪夹张开，未抓取到白色勺子。因此进度为0%", + "error_success_analysis": "爪夹张开，未抓取到白色勺子。需要重新抓取。", + "correction_plan": "爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 7.504055781440593, + "frame": 225, + "progress": 40, + "action_description": "爪夹再次合拢", + "state_description": "爪夹再次合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近", + "progress_explanation": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 9.272027321330835, + "frame": 278, + "progress": 50, + "action_description": "爪夹夹紧白色勺子，垂直升高，向爪夹左后方的电饭煲内胆移动，调整爪夹角度。", + "state_description": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹水平到达电饭煲内胆的正上方后，爪夹下降至合适位置。", + "progress_explanation": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方，方便白色勺子落入电饭煲内胆。因此进度为50%", + "error_success_analysis": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方，方便白色勺子落入电饭煲内胆。", + "correction_plan": "水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + }, + { + "time": 12.266667, + "frame": 368, + "progress": -50, + "action_description": "爪夹夹紧白色勺子，向爪夹左方移动，张开爪夹。", + "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面上。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方", + "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面上，需要重新抓取白色勺子，因此进度降低为 -50%。", + "error_success_analysis": "爪夹张开，白色勺子掉落桌面上，需要重新抓取白色勺子，", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。" + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766389348052", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766389348307", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766389349665", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766389349882", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131249-good-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131249-good-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..690dde81ace5e06055966a9d74318f3470816c96 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131249-good-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取洋葱放入电饭煲内胆里：\n准备开始移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近电饭煲内胆：60%\n爪夹将洋葱放入电饭煲内胆：80%\n爪夹松开洋葱落入电饭煲内胆：100%", + "progress_points": [ + { + "time": 2.044695692738897, + "frame": 61, + "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，远离洋葱，未开始移动。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。", + "progress_explanation": "当前为初始状态，远离洋葱，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。" + }, + { + "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\n", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取。", + "frame": 133, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。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，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近", + "time": 4.430176023131009 + }, + { + "action_description": "爪夹垂直升高，重新调整爪夹的角度", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。", + "frame": 208, + "progress": 25, + "progress_explanation": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。因此进度提升为25%", + "state_description": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近\n", + "time": 6.929250654970365 + }, + { + "action_description": "爪夹再次垂直升高，重新调整爪夹的角度", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹再次向上垂直升高，爪夹重新调整角度并进行抓取。", + "frame": 286, + "progress": 30, + "progress_explanation": "爪夹再次上垂直升高，爪夹重新调整角度并进行抓取。因此进度提升为30%", + "state_description": "爪夹再次向上垂直升高，爪夹重新调整角度并进行抓取。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近\n", + "time": 9.541919588256963 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。方便爪夹合拢抓取到洋葱。", + "frame": 368, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到洋葱，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近", + "time": 12.268182822990806 + }, + { + "time": 14.540068851935674, + "frame": 436, + "progress": 60, + "action_description": "爪夹夹紧洋葱，向爪夹右前方移动", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，位于电饭煲内胆正上方。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。", + "progress_explanation": "爪夹夹紧洋葱，到了爪夹右前方的电饭煲内胆正上方，方便洋葱落入电饭煲内胆。因此进度提升为60%", + "error_success_analysis": "爪夹夹紧洋葱，到了爪夹右前方的电饭煲内胆正上方，方便洋葱落入电饭煲内胆", + "correction_plan": "爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。" + }, + { + "time": 16.187186222920705, + "frame": 486, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，水平到达电饭煲内胆的正上方后爪夹下降至合适位置。\n为完成抓取洋葱放入电饭煲内胆的任务应当：松开爪夹，使洋葱落入电饭煲内胆。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置。因此进度提升为 80%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置。", + "correction_plan": "松开爪夹，使洋葱落入电饭煲内胆。" + }, + { + "time": 17.733333, + "frame": 532, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开洋葱落入电饭煲内胆的任务目标完成。", + "progress_explanation": "爪夹张开，洋葱落入电饭煲内胆，任务完成。因此进度提升为 100%。", + "error_success_analysis": "爪夹张开，洋葱落入电饭煲内胆。", + "correction_plan": "抓取洋葱落入电饭煲内胆，任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767146173057", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767146173234", + "name": "电饭煲内胆", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767146183078", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767146183244", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131627-good-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131627-good-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..bbe7d7d10ac677ad42a0bae0f2a33cbcb6e79461 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131627-good-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,90 @@ +{ + "task_description": "抓取白色勺子放入透明盆里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近透明盆：60%\n爪夹将白色勺子放入透明盆：80%\n爪夹松开白色勺子落入透明盆：100%", + "progress_points": [ + { + "time": 1.841635748885386, + "frame": 55, + "progress": 0, + "action_description": "爪夹张开，爪夹未移动。", + "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。" + }, + { + "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": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取。", + "frame": 139, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。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，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "time": 4.644126791216176 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子", + "frame": 219, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为40%", + "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入透明盆的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近", + "time": 7.286475488270922 + }, + { + "action_description": "爪夹夹紧白色勺子，向爪夹右前方移动", + "correction_plan": "爪夹水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "白色勺子到了爪夹右前方的透明盆正上方，方便白色勺子落入透明盆。", + "frame": 258, + "progress": 60, + "progress_explanation": "爪夹夹紧白色勺子，到了爪夹右前方的透明盆正上方，方便白色勺子落入透明盆。因此进度提升为 60%。", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，位于透明盆正上方。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "time": 8.607649836798295 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹在透明盆正上方。", + "frame": 313, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹在透明盆正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面，爪夹水平移动到透明盆正上方并下降到合适位置停止。\n为完成抓取白色勺子放入透明盆的任务应当：松开爪夹，使白色勺子落入透明盆。", + "time": 10.449286807472815 + }, + { + "time": 12.5, + "frame": 375, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n抓取白色勺子放入透明盆的任务完成", + "progress_explanation": "爪夹张开，白色勺子落入透明盆中，任务完成。因此进度为100%", + "error_success_analysis": "爪夹张开，白色勺子落入透明盆中", + "correction_plan": "抓取白色勺子放入透明盆的任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767144632838", + "name": "白色勺子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767144633477", + "name": "透明盆", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767144644233", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767144644767", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134458-bad-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134458-bad-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..af9be2f8622ec8c3715d844cf3974ef3c07ae465 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134458-bad-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,137 @@ +{ + "task_description": "抓取白色勺子放入透明盆里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近透明盆：60%\n爪夹将白色勺子放入透明盆：80%\n爪夹松开白色勺子落入透明盆：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹角度使其垂直于桌面，并移动到白色勺子正上方。", + "time": 1.9848024736173036 + }, + { + "action_description": "爪夹向前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。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，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近。", + "time": 4.218084139046392 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹角度接近锤至于桌面，方便爪夹合拢抓取到白色勺子。", + "frame": 162, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为40%", + "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入透明盆的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近", + "time": 5.412585842139175 + }, + { + "action_description": "爪夹抓紧白色勺子，向爪夹左方移动，张开爪夹。", + "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹张开，白色勺子掉落在桌面上，需要重新抓取白色勺子", + "frame": 232, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落在桌面上，需要重新抓取白色勺子，因此进度降低为-50%", + "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落在桌面上，爪夹角度与桌面成呈30°\n为完成抓取白色勺子放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，并移动到透明盆的正上方。", + "time": 7.74729371636598 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹", + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹的左方移动，同时调整爪夹二点角度使其垂直于桌面，并移动到白色勺子的正上方。接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到白色勺子，水平上远离了白色勺子。", + "frame": 417, + "progress": -20, + "progress_explanation": "爪夹未抓取到白色勺子，并在水平上远离了白色勺子。需要多两步抓取，张开爪夹，垂直向上升高，因此进度降低为-20%", + "state_description": "爪夹张开，抓取到白色勺子。水平上未靠近白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹张开，爪夹向上垂直升高，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。", + "time": 13.886082298453609 + }, + { + "action_description": "爪夹向左移动，同时降低角度使爪夹垂直于桌面。", + "correction_plan": "爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹向左移动，同时降低角度使爪夹接近垂直于桌面，接近了菠菜，并未接近白色勺子。", + "frame": 469, + "progress": -10, + "progress_explanation": "爪夹向左移动，爪夹接近垂直于桌面，接近了菠菜，并未接近白色勺子，需要多义词爪夹向上垂直升高。因此进度降低为-10%", + "state_description": "爪夹向左移动，同时降低角度使爪夹垂直于桌面，接近了白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向上垂直升高并向爪夹左方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方", + "time": 15.620145850386598 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接近黄色积木后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到菠菜。水平上未靠近白色勺子。", + "frame": 521, + "progress": -20, + "progress_explanation": "爪夹抓取到菠菜。水平上未靠近白色勺子。需要多两步张开爪夹，垂直向上升高，因此进度降低为-20%", + "state_description": "爪夹合拢，抓取到菠菜。水平上未靠近白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子正上方。", + "time": 17.36099634381443 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹垂直升高并向白色勺子正上方移动，水平上接近白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹垂直于桌面合拢，抓取到了菠菜，未抓取到白色勺子，需要重新抓取。", + "frame": 542, + "progress": -30, + "progress_explanation": "爪夹垂直于桌面合拢，抓取到了菠菜，需要重新抓取，因此进度降低到-30%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取菠菜。\n为完成抓取白色勺子放入透明盆的任务应当：放下菠菜，重新抓取白色勺子，抓紧白色勺子垂直升高并向爪夹左前方的透明盆接近。", + "time": 18.063444788530926 + }, + { + "action_description": "爪夹抓紧菠菜，垂直升高，向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "放下菠菜，调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹夹紧菠菜，移动到爪夹右前方，水平上远离了透明盆", + "frame": 603, + "progress": -40, + "progress_explanation": "爪夹夹紧菠菜，移动到爪夹右前方，水平上远离了透明盆，需要重新抓取。因此进度降低为-40%", + "state_description": "爪夹夹紧菠菜，移动到爪夹右前方，调整爪夹角度水平呈30°。\n为完成抓取白色勺子放入透明盆的任务应当：放下菠菜，调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。", + "time": 20.10292070773196 + }, + { + "action_description": "爪夹夹紧菠菜，向爪夹右前方移动，张开爪夹。", + "correction_plan": "调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。", + "error_success_analysis": "爪夹张开，菠菜掉落，水平上远离了白色勺子。", + "frame": 669, + "progress": -50, + "progress_explanation": "爪夹张开，菠菜掉落，水平上远离了白色勺子，需要重新抓取白色勺子。因此进度降低为-50%", + "state_description": "爪夹张开，水平上远离了白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。", + "time": 22.29849628131443 + } + ], + "tags": [ + "custom2" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766648390022", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766648400143", + "name": "菠菜" + }, + { + "color": "#2196F3", + "id": "bbox_1766648415929", + "name": "透明盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766648438156", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766648446636", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-141543-good-onion-plate/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-141543-good-onion-plate/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a86e6cd626e7df51e893280e1f44e2ac502d927c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-141543-good-onion-plate/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,453 @@ +{ + "task_description": "抓起洋葱使其落入盘中\n开始移动0%\n爪夹靠近洋葱20%\n爪夹抓取洋葱40%\n爪夹抓住洋葱靠近盘子60%\n爪夹将洋葱放入盘子80%\n爪夹松开，洋葱落入盘子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1766471475795": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1766471475795_1766471498690_ag13ro5jg", + "width": 0.1, + "x": 0.6895, + "y": 0.7546666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766479029365": { + "instances": [ + { + "height": 0.32666666666666655, + "id": "bbox_1766479029365_1766479036697_mgbcv6a0b", + "width": 0.238, + "x": 0.42350000000000004, + "y": 0.6413333333333334 + } + ], + "type": "bbox" + }, + "point_1766471549914": { + "instances": [ + { + "id": "point_1766471549914_1766471588275_tv6jornst", + "x": 0.43950000000000006, + "y": 0.36800000000000005 + }, + { + "id": "point_1766471549914_1766471599074_ejzwxqp5c", + "x": 0.5425, + "y": 0.35866666666666663 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升张开，向爪夹方向左前方移动至洋葱位置后下降，抓取洋葱后保持爪夹合拢状态抬升爪夹，向爪夹方向右方移动至盘子位置后下降并松开爪夹，使洋葱落入盘中", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%", + "state_description": "当前状态为启动状态，爪夹张开，远离洋葱，未开始移动，\n为完成将洋葱放入盘子中的任务应当：爪夹向爪夹左上方移动至洋葱位置后下降", + "time": 1.692 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1766471475795": { + "instances": [ + { + "height": 0.13466666666666663, + "id": "bbox_1766471475795_1766471611082_fkou5dal4", + "width": 0.09699999999999998, + "x": 0.6935, + "y": 0.7586666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766479029365": { + "instances": [ + { + "height": 0.33999999999999997, + "id": "bbox_1766479029365_1766479041049_15wh8cm7e", + "width": 0.258, + "x": 0.41550000000000004, + "y": 0.628 + } + ], + "type": "bbox" + }, + "point_1766471549914": { + "instances": [ + { + "id": "point_1766471549914_1766471613413_k23y8fw12", + "x": 0.4305, + "y": 0.3 + } + ], + "type": "point" + }, + 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"bbox" + }, + "bbox_1766479029365": { + "instances": [ + { + "height": 0.32533333333333325, + "id": "bbox_1766479029365_1766479047925_h0wgkcrec", + "width": 0.263, + "x": 0.40750000000000003, + "y": 0.6306666666666667 + } + ], + "type": "bbox" + }, + "point_1766471549914": { + "instances": [ + { + "id": "point_1766471549914_1766471644522_n4140d0gx", + "x": 0.6985, + "y": 0.8506666666666667 + } + ], + "type": "point" + }, + "point_1766471589839": { + "instances": [ + { + "id": "point_1766471589839_1766471647538_e7m8eetga", + "x": 0.7945, + "y": 0.8133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹收紧状态，抬升并向右移动至盘子上方，之后下降至盘子内后张开爪夹，使洋葱落入盘中即可", + "error_success_analysis": "爪夹向下移动至洋葱位置并成功抓取洋葱", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹夹中洋葱，距离完成任务更进一步，进度提升至50%", + "state_description": "当前状态为合拢，抓紧洋葱，洋葱已被抓取。为完成把洋葱放入盘子中的任务应当：抬起爪夹向右移动", + "time": 6.888571428571427 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1766471475795": { + "instances": [ + { + "height": 0.1146666666666666, + "id": "bbox_1766471475795_1767085969318_9y4qkr6be", + "width": 0.08400000000000007, + "x": 0.7165, + "y": 0.7586666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766479029365": { + "instances": [ + { + "height": 0.3026666666666666, + "id": "bbox_1766479029365_1767085973613_nbipt4znt", + "width": 0.24000000000000005, + "x": 0.4285, + "y": 0.6693333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续保持爪夹合拢，向上抬升，继续保持爪夹合拢向爪夹方向右方移动至盘子位置后下降，下降至盘子内松开爪夹，使洋葱落入盘中", + "error_success_analysis": "爪夹成功合拢，洋葱已被成功抓取", + "frame": 251, + "progress": 60, + "progress_explanation": "洋葱已被抓取，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，洋葱已被抓取。\n为完成将洋葱放入盘中的任务应当：继续保持爪夹合拢，向上抬升，继续保持爪夹合拢向爪夹方向右方移动至盘子位置后下降", + "time": 8.375 + }, + { + "action_description": "爪夹向爪夹方向上方抬升", + "annotations": { + "bbox_1766471475795": { + "instances": [ + { + "height": 0.14533333333333331, + "id": 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box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154513-bad-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b167ef0f5ae1677ca67e75708b148f8cc9d563d8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154513-bad-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,294 @@ +{ + "task_description": "拿起锤子，把它放进快递箱里。\n开始移动：0%\n爪夹靠近锤子：20%\n爪夹抓取锤子：40%\n爪夹抓住锤子，接近快递箱：60%\n爪夹将锤子放入快递箱中：80%\n爪夹松开，锤子落入快递箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，没有移动。", + "annotations": { + "bbox_1766045093536": { + "instances": [ + { + "height": 0.3053333333333334, + "id": "bbox_1766045093536_1766483542235_uclzhlmqt", + "width": 0.2129999999999999, + "x": 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265, + "progress": -50, + "progress_explanation": "当前爪夹没有松开抬升，重新调整角度，而是将快递箱撞击出去。因此进度下降至-50%。", + "state_description": "当前状态为爪夹没有及时松开爪夹，并继续向快递箱方向移动，将快递箱撞击出去。", + "time": 8.833333333333334 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766045093536", + "name": "锤子" + }, + { + "color": "#FF9800", + "id": "bbox_1766045093687", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766045094832", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766045094991", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170227-bad-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170227-bad-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..97461de0be6702044972b9fe425ae618385daa27 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170227-bad-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,306 @@ +{ + "task_description": "拿起锤子，把它放到白色托盘里。\n开始移动：0%\n爪夹靠近锤子：20%\n爪夹抓取锤子：40%\n爪夹抓住锤子并接近白色托盘：60%\n爪夹将锤子放入白色托盘中：80%\n爪夹松开，使锤子落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开，没有移动。", + "annotations": { + "bbox_1766127930861": { + "instances": [ + { + "height": 0.3506666666666666, + "id": "bbox_1766127930861_1766478720087_8eed9m62w", + "width": 0.11400000000000006, + "x": 0.42749999999999994, + "y": 0.4653333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766127931005": { + "instances": [ + { + "height": 0.5426666666666667, + "id": "bbox_1766127931005_1766478724367_8009raom6", + "width": 0.328, + "x": 0.6735, + "y": 0.28266666666666657 + } + ], + "type": "bbox" + }, + "point_1766127931845": { + "instances": [ + { + "id": "point_1766127931845_1766478728094_uskczpdwq", + "x": 0.4215, + "y": 0.396 + } + ], + "type": "point" + }, + "point_1766127931989": { + "instances": [ + { + "id": "point_1766127931989_1766478731287_d7dm825sn", + "x": 0.5175, + "y": 0.38 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开状态，爪夹调整角度，向爪夹的前方移动，靠近锤子至锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "当前爪夹保持张开，没有移动。因此进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有接触锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹保持张开状态，爪夹调整角度，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子。", + "time": 1.8654294963917526 + }, + { + "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1766127930861": { + "instances": [ + { + "height": 0.3453333333333334, + "id": "bbox_1766127930861_1766478947564_aroaggauv", + "width": 0.11500000000000003, + "x": 0.4255, + "y": 0.464 + } + ], + "type": "bbox" + }, + "bbox_1766127931005": { + "instances": [ + { + "height": 0.5626666666666666, + "id": "bbox_1766127931005_1766478933940_g8wwkr6at", + "width": 0.324, + "x": 0.6775, + "y": 0.2813333333333333 + } + ], + "type": "bbox" + }, + "point_1766127931845": { + "instances": [ + { + "id": "point_1766127931845_1766478936500_s2u75k7re", + "x": 0.3885, + "y": 0.376 + } + ], + "type": "point" + }, + "point_1766127931989": { + "instances": [ + { + "id": "point_1766127931989_1766478942356_e27e3pxym", + "x": 0.49050000000000005, + "y": 0.34400000000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开状态，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近锤子。", + "frame": 83, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近锤子并开始调整爪夹角度方便抓取，因此进度提升至15%", + "state_description": "当前爪夹张开，在水平距离上接近锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹保持张开状态，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子。", + "time": 2.7671476819587624 + }, + { + "action_description": "爪夹向爪夹的右前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t", + "annotations": { + "bbox_1766127930861": { + "instances": [ + { + "height": 0.3453333333333333, + "id": "bbox_1766127930861_1766479239216_fz492gy6b", + "width": 0.11699999999999999, + "x": 0.4245, + "y": 0.4653333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766127931005": { + "instances": [ + { + "height": 0.5466666666666666, + "id": "bbox_1766127931005_1766479229976_sq0w8ociv", + "width": 0.325, + "x": 0.6805000000000001, + "y": 0.2813333333333334 + } + ], + "type": "bbox" + }, + "point_1766127931845": { + "instances": [ + { + "id": "point_1766127931845_1766479232592_quew2zeaz", + "x": 0.3545, + "y": 0.5453333333333333 + } + ], + "type": "point" + }, + "point_1766127931989": { + "instances": [ + { + "id": "point_1766127931989_1766479234936_sxhrqa843", + "x": 0.4375, + "y": 0.5333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹移动至锤子的正上方，后下降爪夹并抓取锤子，爪夹垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。", + "error_success_analysis": "爪夹已调整角度，并垂直于桌面。", + "frame": 137, + "progress": 25, + "progress_explanation": "当前爪夹垂直于桌面，并靠近锤子。因此进度提升至25%。", + "state_description": "当前状态为爪夹垂直于桌面，并靠近锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹移动至锤子的正上方，后下降爪夹并抓取锤子。", + "time": 4.581855530412372 + }, + { + "action_description": "爪夹向爪夹的下方移动并合拢空抓。", + "annotations": { + "bbox_1766127930861": { + "instances": [ + { + "height": 0.3506666666666666, + "id": "bbox_1766127930861_1766129341994_1nh4vvvrl", + "width": 0.10899999999999999, + "x": 0.4295, + "y": 0.4640000000000001 + } + ], + "type": "bbox" + }, + "bbox_1766127931005": { + "instances": [ + { + "height": 0.5280000000000001, + "id": "bbox_1766127931005_1766129337418_vizpfpeb1", + "width": 0.3149999999999998, + "x": 0.6785000000000001, + "y": 0.288 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，调整角度，靠近锤子至锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。", + "error_success_analysis": "爪夹合拢，没有重新调整角度。", + "frame": 192, + "progress": -10, + "progress_explanation": "当前爪夹合拢，没有抓取锤子，同上一步相比，爪夹没有松开并抬起，重新调整角度。因此进度下降至-10%。", + "state_description": "当前状态为爪夹合拢，进行空抓动作。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，垂直上升并重新调整角度，重新向爪夹方向的左前方移动，至锤子的正上方，下降并抓取锤子。", + "time": 6.4 + }, + { + "time": 8.046932, + "frame": 241, + "progress": 0, + "action_description": "爪夹合拢，并向爪夹的前方移动，靠近锤子。", + "state_description": "当前爪夹合拢，在水平方向上接近锤子。\n为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方。", + "progress_explanation": "当前爪夹接近锤子，因此进度提升至0%。", + "error_success_analysis": "爪夹合拢，并向爪夹的前方移动，在水平方向上成功接近锤子。", + "correction_plan": "爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。", + "annotations": { + "bbox_1766127931005": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766127931005_1768440992635_f9c3fbh4u", + "x": 0.6755, + "y": 0.2773333333333333, + "width": 0.3240000000000001, + "height": 0.5533333333333333 + } + ] + }, + "bbox_1766127930861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766127930861_1768440997659_99uoft50j", + "x": 0.4325, + "y": 0.4613333333333333, + "width": 0.11500000000000003, + "height": 0.3693333333333334 + } + ] + } + } + }, + { + "time": 10.933333, + "frame": 328, + "progress": 5, + "action_description": "爪夹合拢，向爪夹的前方略微移动，并停下保持静止。", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方。", + "progress_explanation": "当前爪夹向爪夹的前方略微移动，并停下保持静止，因此进度提升至5%。", + "error_success_analysis": "爪夹合拢，向爪夹的前方略微移动，并停下保持静止，没有抬起爪夹，移动到锤子的正上方。", + "correction_plan": "\n爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。\n", + "annotations": { + "bbox_1766127931005": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766127931005_1768441241296_cpyii5inz", + "x": 0.6745, + "y": 0.28, + "width": 0.32299999999999995, + "height": 0.5493333333333332 + } + ] + }, + "bbox_1766127930861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766127930861_1768441245216_8r4l25vkd", + "x": 0.4335, + "y": 0.4706666666666667, + "width": 0.11299999999999999, + "height": 0.3573333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766127930861", + "name": "锤子" + }, + { + "color": "#FF9800", + "id": "bbox_1766127931005", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766127931845", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766127931989", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170709-bad-corn-express-box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170709-bad-corn-express-box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9750625bc399fbb722660f1d0c5931ccef022c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170709-bad-corn-express-box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,678 @@ +{ + "task_description": "把玉米放在快递箱里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并靠近快递箱：60%\n爪夹将玉米放进快递箱：80%\n爪夹松开，使玉米落入快递箱里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766373600586": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1766373600586_1766476552953_o4tlg04av", + "width": 0.12499999999999992, + "x": 0.5475000000000001, + "y": 0.536 + } + ], + "type": "bbox" + }, + "bbox_1766373600770": { + 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at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-180358-mix-corn-rice-cooker/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-180358-mix-corn-rice-cooker/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a3003151757815eed565003fefeb7a3b73bb680b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-180358-mix-corn-rice-cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,666 @@ +{ + "task_description": "把玉米放在电饭煲的内锅里。\n爪夹开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并靠近内锅：60%\n爪夹保持合拢并移动到内锅的正上方：80%\n爪夹松开，玉米落入内锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766393131861": { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184050-bad-corn-plate/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184050-bad-corn-plate/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..243de457c18e435f725de1d6abd4190913606240 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184050-bad-corn-plate/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,492 @@ +{ + "task_description": "把玉米放在盘子上。\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近盘子：60%\n爪夹保持合拢并移动到盘子的上方：80%\n爪夹松开，使玉米落入盘子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766556890099": { + "instances": [ + { + "height": 0.256, + "id": 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"point_1766556891339", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766556891563", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184546-good-corn-bowl/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184546-good-corn-bowl/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..3812aa977477a6ea00d54a0ed7aef6acdc37ebe6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184546-good-corn-bowl/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,392 @@ +{ + "task_description": "把玉米放进碗里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹保持合拢并移动到碗的上方：80%\n爪夹松开，使玉米落入碗里：100%", + 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"annotations": { + "bbox_1766557355159": { + "instances": [ + { + "height": 0.15733333333333335, + "id": "bbox_1766557355159_1766558402318_8ygg5t5jw", + "width": 0.10200000000000005, + "x": 0.4875, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766557355567": { + "instances": [ + { + "height": 0.22800000000000006, + "id": "bbox_1766557355567_1766558395558_0gaarpiwc", + "width": 0.195, + "x": 0.3995, + "y": 0.44133333333333336 + } + ], + "type": "bbox" + }, + "point_1766557356215": { + "instances": [ + { + "id": "point_1766557356215_1766558398582_5sk2aa4qs", + "x": 0.5045, + "y": 0.5693333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使玉米落入碗里。", + "error_success_analysis": "爪夹已经抓取到黄瓜，并垂直于碗的上方。\n", + "frame": 255, + "progress": 80, + "progress_explanation": "当前爪夹已抓住玉米并移动至碗的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于碗的正上方。\n为完成把玉米放进碗里的任务应当：松开爪夹，使玉米落入碗里。", + "time": 8.506133 + }, + { + "action_description": "爪夹松开，玉米落下。", + "annotations": { + "bbox_1766557355159": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1766557355159_1766558407830_igaxcjdgb", + "width": 0.08899999999999997, + "x": 0.4625, + "y": 0.49466666666666664 + } + ], + "type": "bbox" + }, + "bbox_1766557355567": { + "instances": [ + { + "height": 0.23733333333333337, + "id": "bbox_1766557355567_1766558418598_ff15bpryz", + "width": 0.191, + "x": 0.3995, + "y": 0.444 + } + ], + "type": "bbox" + }, + "point_1766557356215": { + "instances": [ + { + "id": "point_1766557356215_1766558410062_46nmqt9pd", + "x": 0.4715, + "y": 0.5506666666666666 + } + ], + "type": "point" + }, + "point_1766557356375": { + "instances": [ + { + "id": "point_1766557356375_1766558412366_etqpdn5du", + "x": 0.5395000000000001, + "y": 0.536 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功将玉米放进碗里。", + "frame": 299, + "progress": 100, + "progress_explanation": "当玉米已经成功落入碗里。因此进度提升至100%。", + "state_description": "当前爪夹松开，玉米落入碗里。已完成把玉米放进碗里的任务。", + "time": 9.971199 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766557355159", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1766557355567", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766557356215", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766557356375", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184830-good-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000012.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184830-good-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..72afa26dfc488b8db0598b452f4427197965e8ce --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184830-good-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000012.json @@ -0,0 +1,372 @@ +{ + "task_description": "把面包片放进菱形盘子里。\n开始移动：0%\n爪夹靠近面包片：20%\n爪夹抓取面包片：40%\n爪夹抓住面包片并接近菱形盘子：60%\n爪夹保持合拢并移动到菱形盘子的上方：80%\n爪夹松开，使面包片落入菱形盘子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.1853333333333333, + "id": "bbox_1766560074783_1766561490995_0l6vz5rv1", + "width": 0.137, + "x": 0.5575, + "y": 0.4706666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.2733333333333334, + "id": "bbox_1766560075391_1766561496723_ixcycldfq", + "width": 0.23700000000000002, + "x": 0.2585, + "y": 0.452 + } + ], + "type": "bbox" + }, + 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"爪夹向爪夹的左前方移动，移动至面包片的正上方。\n", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.1839999999999999, + "id": "bbox_1766560074783_1766561555571_98nmmexct", + "width": 0.15099999999999997, + "x": 0.5485, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.27599999999999997, + "id": "bbox_1766560075391_1766561548098_66vvlol6w", + "width": 0.23800000000000004, + "x": 0.2595, + "y": 0.448 + } + ], + "type": "bbox" + }, + "point_1766560076480": { + "instances": [ + { + "id": "point_1766560076480_1766561550658_pib7rcj9f", + "x": 0.5865, + "y": 0.5346666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "下降爪夹并抓取面包片，抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪夹，使面包片落入盘子中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近面包片，到达面包片的正上方，准备抓取。\n", + "frame": 173, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至面包片的正上方，因此进度为30%。\n", + "state_description": "当前爪夹张开，到达面包片的正上方。\n为完成把面包片放进菱形盘子里的任务应当：下降并抓取面包片，抬起爪夹，向爪夹的右边移动。", + "time": 5.7814 + }, + { + "action_description": "爪夹下降，合拢爪夹并抓取面包片。\n", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.21066666666666672, + "id": "bbox_1766560074783_1766561560795_370hw8zy1", + "width": 0.15300000000000002, + "x": 0.5345000000000001, + "y": 0.49733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.2733333333333333, + "id": "bbox_1766560075391_1766561577090_gq039omnk", + "width": 0.24400000000000005, + "x": 0.2545, + "y": 0.45066666666666666 + } + ], + "type": "bbox" + }, + "point_1766560076480": { + "instances": [ + { + "id": "point_1766560076480_1766561571954_wev7dpqwo", + "x": 0.5965, + "y": 0.536 + } + ], + "type": "point" + } + }, + "correction_plan": "抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪夹，使面包片落入盘子中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取面包片。\n", + "frame": 246, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取面包片，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到面包片。\n为完成把面包片放进菱形盘子里的任务应当：抬起爪夹，向爪夹的右边移动至盘子的正上方。", + "time": 8.184690721649483 + }, + { + "action_description": "爪夹上升，抓住面包片向爪夹方向的右边移动。\n", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.23866666666666672, + "id": "bbox_1766560074783_1766561592874_1iriccovk", + "width": 0.19399999999999995, + "x": 0.4605, + "y": 0.436 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.27599999999999997, + "id": "bbox_1766560075391_1766561588035_1jdo2jleu", + "width": 0.244, + "x": 0.2525, + "y": 0.448 + } + ], + "type": "bbox" + }, + "point_1766560076480": { + "instances": [ + { + "id": "point_1766560076480_1766561596730_k73ucepz6", + "x": 0.5575, + "y": 0.47866666666666663 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹移动至盘子的正上方，松开爪夹，使面包片落入盘子中。", + "error_success_analysis": "爪夹成功抓取面包片，并在向着盘子的方向靠近。\n", + "frame": 273, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住面包片，并在水平方向上接近盘子，因此进度为60%。\n", + "state_description": "当前爪夹合拢，抓住面包片，垂直于桌面。\n为完成把面包片放进菱形盘子里的任务应当：爪夹移动至盘子的正上方，松开爪夹，使面包片落入盘子中。", + "time": 9.0968 + }, + { + "action_description": "爪夹保持合拢，抓紧面包片向爪夹方向的右边移动。", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.20266666666666666, + "id": "bbox_1766560074783_1766561606706_8i091kjmu", + "width": 0.14000000000000004, + "x": 0.25149999999999995, + "y": 0.44666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.27066666666666667, + "id": "bbox_1766560075391_1766561622058_1pfvvlr69", + "width": 0.22800000000000006, + "x": 0.26949999999999996, + "y": 0.4533333333333333 + } + ], + "type": "bbox" + }, + "point_1766560076480": { + "instances": [ + { + "id": "point_1766560076480_1766561609666_ecjlm4qsu", + "x": 0.35350000000000004, + "y": 0.4826666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使面包片落入盘子中。", + "error_success_analysis": "爪夹成功移动到盘子的正上方。", + "frame": 309, + "progress": 80, + "progress_explanation": "当前爪夹已抓住面包片并移动至盘子的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于盘子的正上方。\n为完成把面包片放进菱形盘子里的任务应当：松开爪夹，使面包片落入盘子中。", + "time": 10.302399 + }, + { + "action_description": "爪夹松开，面包片下落。", + "annotations": { + "bbox_1766560074783": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1766560074783_1766561636546_mkos46hb5", + "width": 0.154, + "x": 0.2455, + "y": 0.4826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766560075391": { + "instances": [ + { + "height": 0.2853333333333333, + "id": "bbox_1766560075391_1766561626906_pdco1nn6j", + "width": 0.24499999999999997, + "x": 0.2515, + "y": 0.44000000000000006 + } + ], + "type": "bbox" + }, + "point_1766560076480": { + "instances": [ + { + "id": "point_1766560076480_1766561629746_z714pgshp", + "x": 0.3085, + "y": 0.52 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "面包片成功落入盘子中。", + "frame": 368, + "progress": 100, + "progress_explanation": "当前面包片已经落入盘子中，因此进度提升至100%。", + "state_description": "当前面包片落入盘子中，已经完成把面包片放进菱形盘子里的任务。", + "time": 12.2615 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766560074783", + "name": "面包片" + }, + { + "color": "#FF9800", + "id": "bbox_1766560075391", + "name": "菱形盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766560076480", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766560076759", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-171526-good-yellow cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-171526-good-yellow cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ec018edc693233c80ad736ec447dd1ef8ffc9641 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-171526-good-yellow cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,436 @@ +{ + "task_description": "把黄色立方体形状的积木块放入对应的孔中。\n爪夹靠近黄色立方体：20%\n爪夹抓取黄色立方体：40%\n爪夹抓住黄色立方体并接近玩具箱：60%\n爪夹保持合拢并移动到玩具箱的上方：80%\n爪夹松开，使黄色立方体落入对应的孔中：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766629097781": { + "instances": [ + { + "height": 0.06666666666666667, + "id": "bbox_1766629097781_1766630423436_jdv5oihqo", + "width": 0.041999999999999996, + "x": 0.5965, + "y": 0.5826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766629098653": { + "instances": [ + { + "height": 0.3453333333333333, + "id": 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of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-170544-mix- dianond-shaped plate -microwave/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-170544-mix- dianond-shaped plate -microwave/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..7701d937f3285e8c5ead671652e9cc17b4cd21c7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-170544-mix- dianond-shaped plate -microwave/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,980 @@ +{ + "task_description": "抓取盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近盘子：20%\n爪夹抓取盘子：40%\n爪夹抓紧盘子接近烤箱：60%\n爪夹将盘子放入烤箱：80%\n爪夹松开盘子落入烤箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + 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"调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达装有生菜盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。", + "error_success_analysis": "", + "frame": 62, + "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，没有触碰装有生菜的盘子。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，准备抓取装有生菜的盘子。\n", + "time": 2.05840206185567 + }, + { + "action_description": "爪夹向爪夹方向的上方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1766115498155": { + "instances": [ + { + "height": 0.25200000000000006, + "id": "bbox_1766115498155_1766115686874_9pde3tvxo", + "width": 0.22800001391601646, + "x": 0.11481818327747699, + "y": 0.2952310689290364 + } + ], + "type": "bbox" + }, + "bbox_1766115513186": { + "instances": [ + { + "height": 0.7973333333333332, + "id": "bbox_1766115513186_1766115739474_ror7an96x", + "width": 0.5160000314941426, + "x": 0.4818182056773807, + "y": 0.16189773559570314 + } + ], + "type": "bbox" + }, + "point_1766115520626": { + 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box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,570 @@ +{ + "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱内中:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。", + "annotations": { + "bbox_1766218738706": { + "instances": [ + { + "height": 0.17466666666666672, + "id": "bbox_1766218738706_1766218784794_0wufus7rc", + "width": 0.11100000000000003, + "x": 0.2485, + "y": 0.6613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766218740361": { + "instances": [ + { + "height": 0.5253333333333334, + "id": "bbox_1766218740361_1766218798786_7bnt4klm9", + "width": 0.36899999999999994, + "x": 0.5625, + "y": 0.14533333333333334 + } + ], + "type": "bbox" + }, + "point_1766218753994": { + "instances": [ + { + "id": "point_1766218753994_1766218812562_8eetngemk", + "x": 0.3905, + "y": 0.388 + } + ], + "type": "point" + }, + "point_1766218754490": { + "instances": [ + { + 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0000000000000000000000000000000000000000..83eda95a5d06db8c3b3d5ce0025ebe5d71d5dd5c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-170818-good-teapot-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓起茶壶并将其放入快递箱里:\n开始移动:0%\n爪夹靠近茶壶:20%\n爪夹抓取茶壶:40%\n爪夹抓住茶壶接近快递箱:60%\n爪夹将茶壶放入快递箱:80%\n爪夹松开，茶壶在快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1766644159071_1766644268935_o9v3prwq9", + "width": 0.1, + "x": 0.3365, + "y": 0.35866666666666663 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.5040000000000001, + "id": "bbox_1766644160263_1766644601623_z5gd7mwyj", + "width": 0.34299999999999997, + "x": 0.6555, + "y": 0.12133333333333332 + } + ], + "type": "bbox" + }, + 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"当前状态为爪夹打开，与水平方向呈60度夹角，爪夹在水平方向上接近了茶壶。\n为完成抓起茶壶使其放进快递箱里的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右前方移动，直至茶壶正上方。", + "time": 3.055051546391752 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并略微下降，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.15466666666666662, + "id": "bbox_1766644159071_1766644296175_x6jpll7vb", + "width": 0.09900000000000002, + "x": 0.3375, + "y": 0.35866666666666674 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.504, + "id": "bbox_1766644160263_1766644579231_m3linz5sw", + "width": 0.3449999999999999, + "x": 0.6535, + "y": 0.12400000000000001 + } + ], + "type": "bbox" + }, + "point_1766644161039": { + "instances": [ + { + "id": "point_1766644161039_1766644202815_4d38hdqul", + "x": 0.3285, + "y": 0.42 + } + ], + "type": "point" + }, + "point_1766644161431": { + "instances": [ + { + "id": "point_1766644161431_1766644252599_l2w92yojn", + "x": 0.42750000000000005, + "y": 0.3973333333333333 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"point_1766644161039_1766644206383_ipm5e1bgl", + "x": 0.3435, + "y": 0.43733333333333335 + } + ], + "type": "point" + }, + "point_1766644161431": { + "instances": [ + { + "id": "point_1766644161431_1766644249503_spnxsj33w", + "x": 0.4305, + "y": 0.4106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降抓取茶壶，抓取茶壶后竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。", + "error_success_analysis": "爪夹位于茶壶正上方，爪夹下降进一步接近茶壶，且爪夹与桌面垂直，方便抓取茶壶。", + "frame": 161, + "progress": 20, + "progress_explanation": "较上一阶段相比，爪夹更接近茶壶，因此进度提升至20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹位于三脚架正上方。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹竖直下降抓取茶壶。", + "time": 5.375806451612903 + }, + { + "action_description": "爪夹略微下降后合拢，抓取茶壶。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1766644159071_1766644319943_a302iurc3", + "width": 0.10099999999999998, + "x": 0.34450000000000003, + "y": 0.3573333333333333 + } + ], + "type": "bbox" + }, + 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8.16248382923674 + }, + { + "action_description": "爪夹抓取茶壶向爪夹方向的左前方移动。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.21733333333333332, + "id": "bbox_1766644159071_1766644344991_3ukdidzex", + "width": 0.15499999999999997, + "x": 0.5385, + "y": 0.18533333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.5026666666666667, + "id": "bbox_1766644160263_1766644511983_dpri9igj7", + "width": 0.35699999999999993, + "x": 0.6405000000000001, + "y": 0.12266666666666667 + } + ], + "type": "bbox" + }, + "point_1766644161039": { + "instances": [ + { + "id": "point_1766644161039_1766644216775_ziy9vhv7m", + "x": 0.5645, + "y": 0.3106666666666667 + } + ], + "type": "point" + }, + "point_1766644161431": { + "instances": [ + { + "id": "point_1766644161431_1766644238231_87habm5qb", + "x": 0.6474999999999999, + "y": 0.24533333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧茶壶，向爪夹方向的左侧移动，在水平方向上更接近快递箱。", + "frame": 263, + "progress": 60, + "progress_explanation": "较上一步相比爪夹在水平方向上逐渐接近快递箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上接近了快递箱。为完成抓起茶壶使其放进快递箱里的任务应当:爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。", + "time": 8.756907216494845 + }, + { + "action_description": "爪夹抓住茶壶向爪夹的左前方略微移动后下降。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.19466666666666665, + "id": "bbox_1766644159071_1766644383191_pwrxwexm7", + "width": 0.14200000000000007, + "x": 0.7585, + "y": 0.14400000000000002 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.49333333333333335, + "id": "bbox_1766644160263_1766644493039_twkr7j3v3", + "width": 0.34499999999999986, + "x": 0.6535000000000001, + "y": 0.13333333333333333 + } + ], + "type": "bbox" + }, + "point_1766644161039": { + "instances": [ + { + "id": "point_1766644161039_1766644220447_pva3yrcpp", + "x": 0.7965, + "y": 0.2813333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧茶壶，向爪夹方向的左前方移动，在水平方向上更接近快递箱。", + "frame": 283, + "progress": 70, + "progress_explanation": "较上一步相比爪夹在水平方向上更接近快递箱，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上更接近了快递箱。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。", + "time": 9.4248 + }, + { + "action_description": "爪夹略微向爪夹的左后方移动并下降。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.16266666666666665, + "id": "bbox_1766644159071_1766644397591_95xx2933j", + "width": 0.1370000000000001, + "x": 0.7715, + "y": 0.21733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.48800000000000004, + "id": "bbox_1766644160263_1766644453775_5fmfzg078", + "width": 0.34299999999999997, + "x": 0.6545, + "y": 0.13733333333333334 + } + ], + "type": "bbox" + }, + "point_1766644161039": { + "instances": [ + { + "id": "point_1766644161039_1766644223423_9y0qxua3t", + "x": 0.8105, + "y": 0.3453333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将茶壶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方略微移动后，处于快递箱正上方，方便爪夹将茶壶放入快递箱中。", + "frame": 318, + "progress": 80, + "progress_explanation": "爪夹略微向爪夹的左后方移动后，处于快递箱正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，处于快递箱的正上方。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹下降，将茶壶放入快递箱中，爪夹张开。", + "time": 10.599599 + }, + { + "action_description": "爪夹张开，茶壶落在快递箱中。", + "annotations": { + "bbox_1766644159071": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1766644159071_1766644414495_96ig9hf7j", + "width": 0.11400000000000006, + "x": 0.8015000000000001, + "y": 0.39866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766644160263": { + "instances": [ + { + "height": 0.4866666666666666, + "id": "bbox_1766644160263_1766644438991_ad32luu9f", + 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"point_1766644161039", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766644161431", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0ebe710529b3e527bb49c9a932c72b617c95a5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,596 @@ +{ + "task_description": "抓起杯子使其落入盘中:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近盘子:60%\n爪夹将杯子放入盘子:80%\n爪夹松开，杯子落入盘子:100%", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-140737-bad-charge-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,428 @@ +{ + "task_description": "把充电器放在快递箱中：\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近快递箱：60%\n爪夹将充电器放入快递箱：80%\n爪夹松开，使充电器落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766199802798": { + "instances": [ + { + "height": 0.49333329318576713, + "id": "bbox_1766199802798_1766199830020_vpdctgts6", + "width": 0.2929999821167003, + "x": 0.7066665828450571, + "y": 0.3043518225625145 + } + ], + "type": "bbox" + }, + "bbox_1766199803053": { + "instances": [ + { + "height": 0.1906666511501749, + "id": "bbox_1766199803053_1766199848126_syn1orrmy", + "width": 0.2419999852294931, + "x": 0.35166660451253634, + "y": 0.5216851382092172 + } + ], + "type": "bbox" + }, + "point_1766199803714": { + "instances": [ + { + "id": 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of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-165137-mix-charger-plate/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-165137-mix-charger-plate/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..06fdddf64380d1f9528a18d9f936ec24152f998f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-165137-mix-charger-plate/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,596 @@ +{ + "task_description": "拿起充电器，将其放在充电板上：\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近充电板：60%\n爪夹将充电器放到充电板上：80%\n爪夹松开，使充电器落入充电板上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，暂未移动。", + "annotations": { + "bbox_1766473088871": { + "instances": [ 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+ "progress_explanation": "爪夹松开充电器，散热器成功放入快递箱中。因此进度提升至100%", + "state_description": "当前状态为爪夹松开充，散热器成功落入快递箱中。已完成爪夹松开，使散热器落入快递箱中的任务。", + "time": 22.076538598925993 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766556123173", + "name": "快递箱" + }, + { + "color": "#FF9800", + "id": "bbox_1766556123290", + "name": "散热器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766556124109", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766556124246", + "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_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json new file mode 100644 index 0000000000000000000000000000000000000000..d732df805c210f3d2d4f550b36472f1cba0009b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json @@ -0,0 +1,333 @@ +{ + "task_description": "打开烤箱门\n准备开始移动：0%\n开始接近烤箱：20%\n触碰到烤箱门：50%\n开始打开烤箱门：75%\n打开烤箱门：90%\n烤箱门完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766976930530": { + "instances": [ + { + "height": 0.3484444444444445, + "id": "bbox_1766976930530_1766976966641_xw1cmxnie", + "width": 0.2899999822998057, + "x": 0.6393332739664749, + "y": 0.43918518066406254 + } + ], + "type": "bbox" + }, + "point_1766976931384": { + "instances": [ + { + "id": "point_1766976931384_1766977236380_ro9z4lneo", + "x": 0.5653332784830762, + "y": 0.4421481391059027 + } + ], + "type": "point" + }, + "point_1766976944514": { + "instances": [ + { + "id": 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"point_1766976944514_1766977310027_6zqhu0llg", + "x": 0.6413332738444046, + "y": 0.600370361328125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹移动幅度正确，成功将烤箱门打开。", + "frame": 554, + "progress": 100, + "progress_explanation": "爪夹将烤箱门打开，进度100%。", + "state_description": "当前状态为烤箱门打开，爪夹离开烤箱门。\n", + "time": 18.45346918457854 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766976930530", + "name": "烤箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766976931384", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766976944514", + "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_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7eb150b69d3a7f0eaa178f206d847df1e29a1b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json @@ -0,0 +1,209 @@ +{ + "task_description": "将杯子里的东西倒出来\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子里的东西倒出：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹朝向下，保持张开。\n为了完成将杯子里的东西倒出来的任务应当：向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起。", + "time": 0.6006867650179981, + "annotations": { + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989926509_1bp2wmw45", + "x": 0.31833329355875895, + "y": 0.4782962917751736 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989928141_uw0381ewq", + "x": 0.33033329282633705, + "y": 0.4154814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹调整角度成功，成功爪夹开始移动", + "frame": 96, + "progress": 10, + "progress_explanation": "爪机开始移动，进度10%。", + "state_description": "当前状态为爪机张开。，朝向下。\n为了完成将杯子里的物品到来的任务规定应当：\n继续向右恻移动。", + "time": 3.2089340235800816, + "annotations": { + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989932972_iybt8sad2", + "x": 0.546333279642744, + "y": 0.2999259168836806 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989935166_qivncm8m6", + "x": 0.521333281168623, + "y": 0.264370361328125 + } + ] + } + } + }, + { + "action_description": "向右侧移动，然后稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹夹住杯子，向上移动，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹角度正确，成功接近杯子。", + "frame": 183, + "progress": 20, + "progress_explanation": "爪夹开始接近杯子，进度20%。", + "state_description": "当前状态为爪夹朝向下，保持张开。\n为了完成将杯子里的物品到来的任务规定应当：\n继续向右恻移动，然后向下移动至杯子上方，向下移动。", + "time": 6.101717346712575, + "annotations": { + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989939453_cn6ou3dc5", + "x": 0.7703332659708699, + "y": 0.6714814724392361 + } + ] + }, + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989942651_xtxdw9ep0", + "x": 0.6983332703654009, + "y": 0.5577036946614584 + } + ] + } + } + }, + { + "action_description": "向右侧移动，向下移动。", + "correction_plan": "合拢爪夹夹住杯子，向上移动，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹向下移的，合拢爪夹正确，成功触碰到杯子。", + "frame": 303, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹朝向下方。\n为了完成将杯子里的物品到来的任务规定应当：合拢爪夹，夹住杯子，向上移动。", + "time": 10.108933589412503 + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹合拢正确，成功将杯子夹起至空中。", + "frame": 423, + "progress": 75, + "progress_explanation": "爪夹将杯子夹起，进度75%。", + "state_description": "当前状态为爪夹将杯子到空中。\n为了完成将杯子里的物品到来的任务规定应当：旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "time": 14.092438493398229, + "annotations": { + "bbox_1766989879090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766989879090_1766989953053_9fm9ta65t", + "x": 0.5503332793986035, + "y": 0.6845185139973958, + "width": 0.2009999877319343, + "height": 0.1973333333333333 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989955669_iyxrpmb6l", + "x": 0.6053332760416701, + "y": 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"progress_explanation": "爪夹任务完成，进度100%。", + "state_description": "当前状态为爪夹向下，放下杯子。", + "time": 21.964602946512883 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766989879090", + "name": "杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1766989880031", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766989880327", + "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_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000815.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000815.json new file mode 100644 index 0000000000000000000000000000000000000000..05b57f4dd8e755c89202369e40321bc18320c78b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000815.json @@ -0,0 +1,253 @@ +{ + "task_description": "把杯子移到桌子中央\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子移到中央：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，杯子在桌子侧边。\n为了完成把杯子移到桌子中央的任务应当：向前移动至杯子上方，向下移动，合拢爪夹。", + "time": 0.8707450694128984, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992792390_pbqs6l7ym", + "x": 0.5842979249492581, + "y": 0.4284905731581973, + "width": 0.05401073717535691, + "height": 0.16585167902785763 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向前移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹调整成功，开始移动。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备向爪夹靠近。\n为了完成把杯子移到桌子中央的任务应当：向前移动至杯子上方，向下移动，合拢爪夹。", + "time": 2.3093683124276265, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992799197_k50k9ck5k", + "x": 0.5761144799226889, + "y": 0.41685185884045295, + "width": 0.062194182201926115, + "height": 0.17458071476616588 + } + ] + }, + "point_1766992756574": { + "type": "point", + "instances": [ + { + "id": "point_1766992756574_1766992812493_if8vkd20r", + "x": 0.7397833804540734, + "y": 0.16370982242951235 + } + ] + }, + "point_1766992756752": { + "type": "point", + "instances": [ + { + "id": "point_1766992756752_1766992815180_ru3pok4pe", + "x": 0.7888840506134887, + "y": 0.2626388941303397 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，同时稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹朝向正确，成功接近杯子。", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹张开，朝向杯子。\n为了完成把杯子移到桌子中央的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 4.22122288538141, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992820788_zdramwxq0", + "x": 0.5859346139545719, + "y": 0.4255808945787612, + "width": 0.04746398115410155, + "height": 0.1571226432895493 + } + ] + }, + "point_1766992756574": { + "type": "point", + "instances": [ + { + "id": "point_1766992756574_1766992823012_4gbh62xeq", + "x": 0.6514021741671258, + "y": 0.36447764441060315 + } + ] + }, + "point_1766992756752": { + "type": "point", + "instances": [ + { + "id": "point_1766992756752_1766992825117_47s1gd9hn", + "x": 0.7168697343796795, + "y": 0.32374214429849774 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动，合拢爪夹。", + "correction_plan": "将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹合拢正确，成功触碰到杯子。", + "frame": 183, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹合拢，触碰到杯子。\n为了完成把杯子移到桌子中央的任务应当：将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "time": 6.114148205137631, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992830548_kvom9wc5g", + "x": 0.5777511689280027, + "y": 0.41976153741988903, + "width": 0.049100670159415306, + "height": 0.15130328613067714 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动，向左后侧移动。", + "correction_plan": "向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹夹起正确，成功夹起杯子。", + "frame": 245, + "progress": 75, + "progress_explanation": "爪夹将杯子夹起，进度75%。", + "state_description": "当前状态为爪夹将杯子夹起。\n为了完成把杯子移到桌子中央的任务应当：向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "time": 8.177436803671911, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + 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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_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json new file mode 100644 index 0000000000000000000000000000000000000000..8a604afec2a98c3577e4e5bb76e428de0b6beae1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json @@ -0,0 +1,263 @@ +{ + "task_description": "将绿色物品放在桌面上\n准备开始移动：0%\n接近绿色物品：20%\n触碰到绿色物品：50%\n将绿色物品夹起：75%\n将绿色物品移到桌面上方：90%\n放下绿色物品：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "爪夹向前移动至绿色物品上方，向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，绿色物品在红色框里。\n为了完成将绿色物品放在桌面上的任务应当：向前移动，然后向下移动至绿色物品的上方，向下移动。", + "time": 0.9076857519800335, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766997968214_qa65uu58i", + "x": 0.7086862893531103, + "y": 0.6350777522981603, + "width": 0.031097091100963058, + "height": 0.049464535850413605 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766997970398_7x2hri0p3", + "x": 0.8036142516613133, + "y": 0.41976153741988903 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前和向下移动。", + "correction_plan": "爪夹向前移动至绿色物品上方，向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：稍微向前移动，然后向下移动至绿色物品的上方，向下移动。", + "time": 2.5541866566698617, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766997992453_iiht63fnb", + "x": 0.6988661553212273, + "y": 0.6525358237747769, + "width": 0.037643847122218424, + "height": 0.03491614295323318 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766997994301_4let2wb2f", + "x": 0.7659704045390949, + "y": 0.49832285906466367 + } + ] + }, + "point_1766997945869": { + "type": "point", + "instances": [ + { + "id": "point_1766997945869_1766997997012_rei6vniky", + "x": 0.8134343856931965, + "y": 0.507051894802972 + } + ] + } + } + }, + { + "action_description": "爪夹向前同时向下移动。", + "correction_plan": "向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功接近绿色物品。", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹接近绿色物品，进度20%。", + "state_description": "当前状态为爪夹朝向下，接近绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：继续向下移动，合拢爪夹夹起绿色物品。", + "time": 4.770630182213861, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766998002500_jsm34tjs8", + "x": 0.7054129113424826, + "y": 0.6321680737187242, + "width": 0.02127695706907993, + "height": 0.05237421442984977 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766998004533_wzjesdnd0", + "x": 0.7037762223371689, + "y": 0.6234390379804159 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹合拢正确，成功触碰到绿色物品。", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹触碰到绿色物品，进度50%。", + "state_description": "当前状态为爪夹合拢，爪夹夹住绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "time": 6.902637763927611, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + 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"progress_explanation": "爪夹将绿色物品夹至桌面上，进度90%。", + "state_description": "当前状态为爪夹将绿色物品夹到桌面上。\n为了完成将绿色物品放在桌面上的任务应当：松开爪夹。", + "time": 10.765582194161441, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766998018253_wc3h0niuk", + "x": 0.6432187291405566, + "y": 0.7252777882606793, + "width": 0.0327337801062769, + "height": 0.08147100022421086 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766998021750_4ob87f66o", + "x": 0.6399453511299289, + "y": 0.7252777882606793 + } + ] + } + } + }, + { + "action_description": "松开爪夹，稍微向上移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将绿色物品放在桌面上", + "frame": 353, + "progress": 100, + "progress_explanation": "绿色物品放在桌面上，进度100%。", + "state_description": "当前状态为爪夹松开。", + "time": 11.757704534166848, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json new file mode 100644 index 0000000000000000000000000000000000000000..70f5860b40b540badf93ea4cc02b124612f9e8ee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json @@ -0,0 +1,303 @@ +{ + "task_description": "把杯子移到桌子中央\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子移到中央：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把杯子移到桌子中央的任务应当：向左侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子。", + "time": 0.6504773118158163, + "annotations": { + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000329989_wv5nud4lr", + "x": 0.30606079404590447, + "y": 0.5448777163356412, + "width": 0.13584518744104918, + "height": 0.1571226432895493 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000335150_2ziecm320", + "x": 0.4419059814869536, + "y": 0.597251930765491 + } + ] + }, + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000337061_fk6h5803f", + "x": 0.7692437825497226, + "y": 0.6379874308775965 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动，然后向下移动。", + "correction_plan": "向右侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，在杯子的左上方。\n为了完成把杯子移到桌子中央的任务应当：向右侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子。", + "time": 2.9271502191226166, + "annotations": { + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000341708_mubl6jab4", + "x": 0.764333715533781, + "y": 0.6729035738308297 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000343845_cru2o6k5k", + "x": 0.4451793594975813, + "y": 0.6234390379804159 + } + ] + }, + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000346636_7268ov4ih", + "x": 0.7921574286241164, + "y": 0.4866841447469193, + "width": 0.17021565655263995, + "height": 0.29096785794360985 + } + ] + } + } + }, + { + "action_description": "向向右后侧移动，然后向左前侧移动。", + "correction_plan": "向下移动，合拢爪夹夹起杯子，向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹移动角度正确，成功接近杯子。", + "frame": 172, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹在杯子的上方。\n为了完成把杯子移到桌子中央的任务应当：向下移动，合拢爪夹夹起杯子，向上移动，向左后侧移动至桌子中央。", + "time": 5.745888104359607, + "annotations": { + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000352806_r31ns8dm2", + "x": 0.4975534076676243, + "y": 0.2568195369714675, + "width": 0.2733270638874122, + "height": 0.44227114407428697 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000354473_kjs7frnno", + "x": 0.44681604850289514, + "y": 0.6525358237747769 + } + ] + }, + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000356309_jk1zi9pja", + "x": 0.7692437825497226, + "y": 0.6670842166719574 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹合拢角度正确，成功夹住杯子。", + "frame": 254, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子移到桌子中央的任务应当：向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "time": 8.45621299401056, + "annotations": { + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000366311_giteimh7o", + "x": 0.5695677239014335, + "y": 0.5797938592888744 + } + ] + }, + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000370292_x7nzryqhx", + "x": 0.5286504987685874, + "y": 0.2771872870275202, + "width": 0.43208589740285513, + "height": 0.6343099303170695 + } + ] + } + } + }, + { + "action_description": "稍微向移动，然后向左后侧移动。", + "correction_plan": "向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹夹取角度正确，成功夹起。", + "frame": 291, + "progress": 75, + "progress_explanation": "爪夹夹起杯子，进度75%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子移到桌子中央的任务应当：向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "time": 9.692121143691395, + "annotations": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001024.json @@ -0,0 +1,362 @@ +{ + "task_description": "拿起白布，放在木板上\n准备开始移动：0%\n接近白布：20%\n触碰到白布：50%\n将白布夹起：75%\n将白布移到木板上方：90%\n放下白布：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767001542503": { + "instances": [ + { + "height": 0.1891291076633464, + "id": "bbox_1767001542503_1767001579220_28ps5o9pn", + "width": 0.11947829738791067, + "x": 0.2291364107961537, + "y": 0.594342252186055 + } + ], + "type": "bbox" + }, + "bbox_1767001557965": { + "instances": [ + { + "height": 0.4539098583920313, + "id": "bbox_1767001557965_1767001581812_3eu05qoy8", + "width": 0.30442415498837516, + "x": 0.35188808619469214, + "y": 0.4692260732703027 + } + ], + "type": "bbox" + }, + "point_1767001543308": { + "instances": [ + { + "id": "point_1767001543308_1767001583491_yr64n9xbq", + "x": 0.39444200033285204, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001290.json @@ -0,0 +1,281 @@ +{ + "task_description": "将窗帘拉开\n准备开始移动：0%\n接近窗帘：20%\n触碰到窗帘：50%\n将窗帘夹住：75%\n拉动窗帘：90%\n完全拉开窗帘：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "爪夹向上旋转，向前移动，夹住窗帘，向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹朝向下。\n为了完成将窗帘拉开拉开的任务应当：爪夹向上旋转，向前移动，夹住窗帘。", + "time": 1.3709359570560107, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002763324_dvw6mcgk1", + "x": 0.40262544535942124, + "y": 0.05314203641094059, + "width": 0.5859346639023565, + "height": 0.8321680737187241 + } + ] + }, + "point_1767002737029": { + "type": "point", + "instances": [ + { + "id": "point_1767002737029_1767002769020_o9sim1hnq", 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"correction_plan": "向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹准确夹取窗帘。", + "frame": 160, + "progress": 50, + "progress_explanation": "触碰到窗帘，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住窗帘。\n为了完成将窗帘拉开拉开的任务应当：向左侧移动拉动窗帘，将窗帘拉开。", + "time": 5.346652659103344, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002799700_d6hpuwe7r", + "x": 0.44681604850289514, + "y": 0.003677500560526917, + "width": 0.5319239267269996, + "height": 0.8961810024663185 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": "point_1767002737181_1767002803571_5g1j7afqe", + "x": 0.8150710746985104, + "y": 0.34120021577511433 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "继续向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹成功拉开一些窗帘。", + "frame": 183, + "progress": 75, + "progress_explanation": "爪夹将窗帘拉开一些，进度75%。", + "state_description": "当前状态为爪夹将窗帘拉开一些。\n为了完成将窗帘拉开拉开的任务应当：继续向左侧移动拉动窗帘，将窗帘拉开。", + "time": 6.114377263636621, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002809324_1843rtyk1", + "x": 0.4746397615932305, + "y": 0.02113557203714351, + "width": 0.5090102806526058, + "height": 0.8408971094570323 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": "point_1767002737181_1767002812003_vg6r50wa3", + "x": 0.7446934474700149, + "y": 0.33829053719567825 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "继续向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹移动正确，成功拉动窗帘。", + "frame": 216, + "progress": 90, + "progress_explanation": "爪夹拉动窗帘，进度90%。", + "state_description": "当前状态为爪夹夹住窗帘，向左。\n为了完成将窗帘拉开拉开的任务应当：继续向左侧移动拉动窗帘，将窗帘拉开。", + "time": 7.211126698684161, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001481.json @@ -0,0 +1,263 @@ +{ + "task_description": "将笔放在桌子上\n准备开始移动：0%\n接近笔：20%\n触碰到笔：50%\n将笔夹起：75%\n将笔夹到桌子上方：90%\n松开爪夹，笔落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1767066156651": { + "instances": [ + { + "height": 0.10765810743913562, + "id": "bbox_1767066156651_1767066187065_hrq613hv1", + "width": 0.06055749319661219, + "x": 0.5139202977207628, + "y": 0.3732066801489115 + } + ], + "type": "bbox" + } + }, + "correction_plan": "移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向左侧移动至桌子上方，向下移动松开爪夹，笔落在桌子上。", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为笔在黄色杯子里。\n为了完成将笔放在桌子上的任务应当：移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 1.9711658052294814 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767066156651": { + "instances": [ + { + "height": 0.08729035738308302, + "id": "bbox_1767066156651_1767066198914_gna0rkwru", + "width": 0.04746398115410146, + "x": 0.5188303647367043, + "y": 0.3790260373077836 + } + ], + "type": "bbox" + }, + "point_1767066161849": { + "instances": [ + { + "id": "point_1767066161849_1767066201566_hz19hebxk", + "x": 0.5286504987685874, + "y": 0.16370982242951235 + } + ], + "type": "point" + }, + "point_1767066162027": { + "instances": [ + { + "id": "point_1767066162027_1767066204393_1v9mqazko", + "x": 0.46481962756134737, + "y": 0.2044453225416177 + } + ], + "type": "point" + } + }, + "correction_plan": "移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向左侧移动至桌子上方，向下移动松开爪夹，笔落在桌子上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 102, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹朝向下。\n为了完成将笔放在桌子上的任务应当：移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 3.404741297869535 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767066156651": { + "instances": [ + { + "height": 0.06692260732703027, + "id": "bbox_1767066156651_1767066209418_ugacenq2s", + "width": 0.03437046911159074, + "x": 0.5270138097632735, + "y": 0.39066475162552805 + } + ], + "type": "bbox" + }, + "point_1767066161849": { + "instances": [ + { + "id": "point_1767066161849_1767066211266_k3imggcp2", + "x": 0.5810245469386304, + "y": 0.31501310856018944 + } + ], + "type": "point" + }, + "point_1767066162027": { + "instances": [ + { + "id": "point_1767066162027_1767066213425_m4c56r5np", + "x": 0.5499274558376673, + "y": 0.36447764441060315 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动，合拢爪夹夹住笔，向上移动，向左侧移动至桌子上方，向下移动松开爪夹，笔落在桌子上。", + "error_success_analysis": "爪夹角度准确，成功接近笔。", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹接近笔，进度20%。", + "state_description": "当前状态为爪夹在笔的上方，接近笔。\n为了完成将笔放在桌子上的任务应当：向下移动，合拢爪夹夹住笔，向上移动。", + "time": 4.51250417854594 + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "annotations": { 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"point_targets": [ + { + "color": "#2196F3", + "id": "point_1767066161849", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767066162027", + "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_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c0304b22704bdf10c51d26080141e9871f3854 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json @@ -0,0 +1,470 @@ +{ + "task_description": "把水龙头移到左边，把把手往上推\n准备开始移动：0%\n开始接近水龙头：10%\n触碰到水龙头：20%\n开始移动水龙头：40%\n将水龙头移动到左侧：50%\n开始接近把手：60%\n触碰到把手：80%\n开始移动把手：90%\n将把手移动到指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧，向左侧移动，并且推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧。", + "time": 1.9450166402590003, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085623521_q092700xm", + "x": 0.4123332878214546, + "y": 0.5938518473307292, + "width": 0.10999999328613316, + "height": 0.07466666666666666 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085627625_1d9jx7hnu", + "x": 0.3443332919718449, + "y": 0.6092592502170139, + "width": 0.06899999578857448, + "height": 0.11555555555555547 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": "point_1767085598097_1767085631529_nbd5qno0r", + "x": 0.8123332634073936, + "y": 0.2661481391059028 + } + ] + }, + "point_1767085598311": { + "type": "point", + "instances": [ + { + "id": "point_1767085598311_1767085633361_wo9r1i5rb", + "x": 0.7853332650553426, + "y": 0.264370361328125 + } + ] + } + } + }, + { + "time": 3.5120268509366155, + "frame": 105, + "progress": 5, + "action_description": "爪夹向下移动。", + "state_description": "当前在状态为爪夹朝向下，保持张开。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧。", + "progress_explanation": "爪夹开始移动，进度5%。", + "error_success_analysis": "爪夹调整成功，成功开始移动。", + "correction_plan": "向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧，向左侧移动，并且推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085638769_osbax30o5", + "x": 0.40033328855387645, + "y": 0.5665925835503473, + "width": 0.1259999923095707, + "height": 0.09244444444444445 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085642065_op76rfhe6", + "x": 0.3203332934366886, + "y": 0.5825925835503472, + "width": 0.0859999947509769, + "height": 0.12444444444444448 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": "point_1767085598097_1767085644625_my45pcdag", + "x": 0.6333332743326858, + "y": 0.45459258355034726 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向右侧稍微移动，向下移动，移动至水龙头右侧，向左侧移动，并且推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "爪夹移动角度正确，成功接近水龙头。", + "frame": 140, + "progress": 10, + "progress_explanation": "爪夹接近水龙头，进度10%。", + "state_description": "当前状态为爪夹张开，向水龙头接近。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向右侧稍微移动，向下移动，移动至水龙头右侧。\n", + "time": 4.666665953541175, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085650616_s20nj3ysd", + "x": 0.3993332886149116, + "y": 0.584370361328125, + "width": 0.13699999163818405, + "height": 0.08177777777777777 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085653428_79fj7jxnb", + "x": 0.33233329270426676, + "y": 0.5897036946614583, + "width": 0.07799999523925809, + "height": 0.14755555555555558 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": "point_1767085598097_1767085661968_l060zjvn1", + "x": 0.5093332819010448, + "y": 0.49014813910590277 + } + ] + } + } + }, + { + "action_description": "爪夹向前然后向左侧移动。", + "correction_plan": "向左侧移动，并且推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "爪夹角度正确，成功触碰水龙头。", + "frame": 203, + "progress": 20, + "progress_explanation": "爪夹触碰到水龙头，进度20%。", + "state_description": "当前状态为爪夹触碰到水龙头。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向左侧移动，并且推动水龙头，将水龙头移到左侧。", + "time": 6.769758604713764, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085674400_4ivjouhxf", + "x": 0.41633328757731397, + "y": 0.6039259168836806, + "width": 0.09599999414062532, + "height": 0.08177777777777777 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085677480_3mwf1olpz", + "x": 0.3393332922770207, + "y": 0.5879259168836806, + "width": 0.06899999578857452, + "height": 0.14399999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，并且稍微向前。", + "correction_plan": "继续推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "爪夹移动幅度准确，成功移动水龙头。", + "frame": 245, + "progress": 40, + "progress_explanation": "爪夹移动水龙头，进度40%。", + "state_description": "当前状态为爪夹开始移动水龙头。\n为了完成把水龙头移到左边，把把手往上推的任务应当：继续推动水龙头，将水龙头移到左侧。", + "time": 8.171820372162156, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085685146_6a72nk923", + "x": 0.35433329136149344, + "y": 0.7017036946614584, + "width": 0.057999996459961164, + "height": 0.1315555555555555 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085687528_4ht6yg23v", + "x": 0.3353332925211613, + "y": 0.5914814724392361, + "width": 0.06999999572753932, + "height": 0.1191111111111111 + } + ] + } + } + }, + { + "action_description": "向左侧移动并向前移动。", + "correction_plan": "向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "爪夹向左侧移动正确，成功将水龙头移动至左侧。", + "frame": 321, + "progress": 50, + "progress_explanation": "爪夹将水龙头移至左侧，进度50%。", + "state_description": "当前状态为爪夹将水龙头移动到了左侧。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "time": 10.687284131407802, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085693863_bafyl4zt0", + "x": 0.12333330546061368, + "y": 0.7017036946614584, + "width": 0.21099998712158277, + "height": 0.12977777777777777 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085697408_ahth2ls9u", + "x": 0.33633329246012617, + "y": 0.5950370279947917, + "width": 0.06799999584960967, + "height": 0.1297777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动，然后向右侧移动。", + "correction_plan": "向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "爪夹向把手移动角度正确。", + "frame": 361, + "progress": 60, + "progress_explanation": "爪夹接近把手，进度60%。", + "state_description": "当前状态为爪夹接近把手。\n为了完成把水龙头移到左边，把把手往上推的任务应当：前移动触碰把手，向上移动，打开把手。", + "time": 12.027490232645237, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085703672_okgfry153", + "x": 0.11533330594889488, + "y": 0.7218518473307293, + "width": 0.20899998724365312, + "height": 0.09244444444444437 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085707407_6uyzrsyrv", + "x": 0.33133329276530193, + "y": 0.5897036946614583, + "width": 0.07699999530029329, + "height": 0.1440000000000001 + } + ] + }, + "point_1767085598311": { + "type": "point", + "instances": [ + { + "id": "point_1767085598311_1767085710601_pvelal2z4", + "x": 0.4413332860514352, + "y": 0.6501481391059029 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动。", + "correction_plan": "向上移动，打开把手。", + "error_success_analysis": "爪夹移动正确，成功触碰到把手。", + "frame": 404, + "progress": 80, + "progress_explanation": "爪夹触碰到把手，进度80%。", + "state_description": "当前状态为爪夹触碰到把手。\n为了完成把水龙头移到左边，把把手往上推的任务应当：前移动触碰把手，向上移动，打开把手。", + "time": 13.470789110900936, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085716391_pak4mqepm", + "x": 0.11233330613200035, + "y": 0.6857036946614583, + "width": 0.21899998663330159, + "height": 0.1191111111111111 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085718919_e8zfbi1be", + "x": 0.33133329276530193, + "y": 0.584370361328125, + "width": 0.0749999954223636, + "height": 0.17244444444444448 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": "point_1767085598097_1767085720744_w1iikdxhu", + "x": 0.42133328727213815, + "y": 0.6057036946614583 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "继续向上移动，完全打开把手。", + "error_success_analysis": "爪夹向上移动正确，成功推动把手。", + "frame": 429, + "progress": 90, + "progress_explanation": "爪夹开始推动把手，进度90%。", + "state_description": "当前状态为爪夹向上推动把手。\n为了完成把水龙头移到左边，把把手往上推的任务应当：继续向上移动，完全打开把手。", + "time": 14.316149882450702, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085729984_92igql0z7", + "x": 0.12333330546061368, + "y": 0.6981481391059028, + "width": 0.21499998687744215, + "height": 0.1262222222222222 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085732407_fpauw4j7g", + "x": 0.3253332931315128, + "y": 0.5417036946614583, + "width": 0.05699999652099632, + "height": 0.1795555555555556 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": "point_1767085598097_1767085734138_nbm6ljwr0", + "x": 0.38833328928629823, + "y": 0.5488148057725695 + } + ] + } + } + }, + { + "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": 466, + "progress": 100, + "progress_explanation": "完成将水龙头移到左边，把把手往上推的任务，进度100%。", + "state_description": "当前状态为爪夹将把手完全推开。", + "time": 15.532644651266219, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085738726_ft1kxl85w", + "x": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json new file mode 100644 index 0000000000000000000000000000000000000000..27b54525a4644471896d0eecba63cadd035991e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json @@ -0,0 +1,415 @@ +{ + "task_description": "用咖啡机往杯子里倒些水\n准备开始移动：0%\n开始接近咖啡机：20%\n触碰到咖啡机：50%\n夹住咖啡机：75%%\n往杯子里倒水：90%\n关闭开关：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动，然后向前移动，向右侧移动至开关处，向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成用咖啡机往杯子里倒些水的任务应当：向下移动，然后向前移动，向右侧移动至开关处。", + "time": 2.3348904589772355, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089716703_b16qfoxji", + "x": 0.7823332652384482, + "y": 0.11503702799479167, + "width": 0.03799999768066424, + "height": 0.0711111111111111 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089722031_sgqk5n3hu", + "x": 0.7343332681681354, + "y": 0.13459258355034723 + } + ] + }, + "point_1767089674720": { + "type": "point", + "instances": [ + { + "id": "point_1767089674720_1767089724768_hbfyi5dnd", + "x": 0.7813332652994832, + "y": 0.12392591688368057 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，张开爪夹。", + "correction_plan": "向下移动，然后向前移动，向右侧移动至开关处，向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 113, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开。\n为了完成用咖啡机往杯子里倒些水的任务应当：向下移动，然后向前移动，向右侧移动至开关处。", + "time": 3.7518662966212135, + "annotations": { + "point_1767089674720": { + "type": "point", + "instances": [ + { + "id": "point_1767089674720_1767089730796_btte7gl9t", + "x": 0.8113332634684287, + "y": 0.19681480577256943 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089733727_tcmxps4b0", + "x": 0.7583332667032917, + "y": 0.20214813910590276 + } + ] + }, + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089737183_mxs63mjki", + "x": 0.7823332652384482, + "y": 0.11503702799479167, + "width": 0.03799999768066424, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向后移动。", + "correction_plan": "向右侧移动至开关处，向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹向前移动正确。", + "frame": 174, + "progress": 15, + "progress_explanation": "爪夹向前移动，进度15%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成用咖啡机往杯子里倒些水的任务应当：向下移动，然后向前移动，向右侧移动至开关处。", + "time": 5.810491570179446, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089741458_lbqk02q40", + "x": 0.7703332659708699, + "y": 0.10792591688368056, + "width": 0.04599999719238301, + "height": 0.0657777777777778 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089743887_rsv6drvj9", + "x": 0.809333263590499, + "y": 0.17548147243923612 + } + ] + }, + "point_1767089674720": { + "type": "point", + "instances": [ + { + "id": "point_1767089674720_1767089745895_792nhtivq", + "x": 0.8853332589518275, + "y": 0.184370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，稍微向右侧旋转。", + "correction_plan": "向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹调整角度正确成功接近开关。", + "frame": 281, + "progress": 20, + "progress_explanation": "爪夹靠近开关，进度20%。", + "state_description": "当前状态为爪夹张开，接近开关。\n为了完成用咖啡机往杯子里倒些水的任务应当：向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "time": 9.366298860870938, + "annotations": { + "point_1767089674720": { + "type": "point", + "instances": [ + { + "id": "point_1767089674720_1767089751342_qxrgl58qd", + "x": 0.8783332593790736, + "y": 0.2270370279947917 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089753582_vyuwq9lgq", + "x": 0.8253332626139365, + "y": 0.14170369466145832 + } + ] + }, + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089756598_cmr44nxq3", + "x": 0.7733332657877645, + "y": 0.12037036132812501, + "width": 0.04099999749755874, + "height": 0.06400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹缓缓向右侧移动，然后稍微向前。", + "correction_plan": "向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹移动正确，成功移动爪夹。", + "frame": 383, + "progress": 30, + "progress_explanation": "爪夹更加接近开关，进度30%", + "state_description": "当前状态为爪夹张开，在开关前方。\n为了完成用咖啡机往杯子里倒些水的任务应当：向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "time": 12.761693792583864, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089760809_nv7hqs6ia", + "x": 0.7783332654825887, + "y": 0.10259258355034723, + "width": 0.04399999731445323, + "height": 0.0817777777777778 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089763063_xeot880en", + "x": 0.8203332629191123, + "y": 0.09370369466145834 + } + ] + }, + "point_1767089674720": { + "type": "point", + "instances": [ + { + "id": "point_1767089674720_1767089764990_9on1f1coo", + "x": 0.8293332623697959, + "y": 0.1701481391059028 + } + ] + } + } + }, + { + "action_description": "向左旋转，向前移动，稍微向后。", + "correction_plan": "向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹角度正确，成功接近开关。", + "frame": 465, + "progress": 40, + "progress_explanation": "爪夹更加接近开关，进度40%。", + "state_description": "当前状态为爪夹张开，更加接近开关。\n为了完成用咖啡机往杯子里倒些水的任务应当：向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "time": 15.488703895219444, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089774262_868kneazx", + "x": 0.7763332656046591, + "y": 0.1114814724392361, + "width": 0.03799999768066416, + "height": 0.06933333333333336 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089776814_gn4kcphb7", + "x": 0.8153332632242881, + "y": 0.15770369466145834 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，合拢爪夹。", + "correction_plan": "稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "爪夹夹取角度正确，成功触碰到开关。", + "frame": 565, + "progress": 50, + "progress_explanation": "爪夹触碰到开关，进度50%。", + "state_description": "当前状态我爪夹合拢触碰到爪夹。\n为了完成用咖啡机往杯子里倒些水的任务应当：稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "time": 18.830628040606186, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089783561_09weqcwzi", + "x": 0.7813332652994832, + "y": 0.11325925021701388, + "width": 0.027999998291015692, + "height": 0.07999999999999999 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089785286_hoqvyj1hp", + "x": 0.7923332646280966, + "y": 0.17370369466145835 + } + ] + } + } + }, + { + "action_description": "爪夹向后向上移动。", + "correction_plan": "向前移动，关闭开关。", + "error_success_analysis": "爪夹拉动幅度正确，成功拉动开关。", + "frame": 640, + "progress": 75, + "progress_explanation": "爪夹夹住开关并稍微拉动，进度75%。", + "state_description": "当前状态为爪夹夹住开关。\n为了完成用咖啡机往杯子里倒些水的任务应当：向前移动，关闭开关。", + "time": 21.343754997937015, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089790534_hny96tvub", + "x": 0.7723332658487997, + "y": 0.10259258355034723, + "width": 0.03999999755859394, + "height": 0.08533333333333332 + } + ] + }, + "point_1767089674480": { + "type": "point", + "instances": [ + { + "id": "point_1767089674480_1767089792381_bvg6oil9i", + "x": 0.8123332634073936, + "y": 0.15059258355034724 + } + ] + } + } + }, + { + "action_description": "稍微向上移动。", + "correction_plan": "向前移动，关闭开关。", + "error_success_analysis": "爪夹移动正确，成功开始倒水。", + "frame": 711, + "progress": 90, + "progress_explanation": "往杯子里倒水，进度90%。", + "state_description": "当前状态为爪夹向后，咖啡机开始倒水。\n为了完成用咖啡机往杯子里倒些水的任务应当：向前移动，关闭开关。", + "time": 23.696469596289276, + "annotations": { + "bbox_1767089670488": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767089670488_1767089796821_hyjuy7mbu", + "x": 0.783333265177413, + "y": 0.10259258355034723, + "width": 0.030999998107910275, + "height": 0.09244444444444443 + } + ] + }, + "point_1767089674480": { + "type": "point", + 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"point_targets": [ + { + "id": "point_1767089674480", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767089674720", + "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_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json new file mode 100644 index 0000000000000000000000000000000000000000..209d73fd7d78c61b08dd00fa238e59a6098624cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json @@ -0,0 +1,311 @@ +{ + "task_description": "把蓝色杯子移到右边\n准备开始移动：0%\n开始接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子向右移动：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "稍微向前移动，然后向下移动至杯子上方，合拢爪夹，夹住杯子，向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成将杯子移倒右边的任务应当：稍微向前移动，然后向下移动至杯子上方。", + "time": 1.8666666666666667, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767149978826_1zncw4paf", + "x": 0.5613842788748642, + "y": 0.6874519667280101, + "width": 0.09656465131351685, + "height": 0.209496857719399 + } + ] + }, + "point_1767149956539": { + "type": "point", + "instances": [ + { + "id": "point_1767149956539_1767149980778_7uivw9pvy", + "x": 0.7446934474700149, + "y": 0.05605171499037669 + } + ] + } + } + }, + { + "action_description": "爪夹向前并稍微向下移动。", + "correction_plan": "向下移动至杯子上方，合拢爪夹，夹住杯子，向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 107, + "progress": 5, + "progress_explanation": "爪夹开始移动，进度5%。", + "state_description": "当前状态为爪夹在桌子正上方。\n为了完成将杯子移倒右边的任务应当：向下移动至杯子上方，合拢爪夹，夹住杯子，向上移动。", + "time": 3.5721211436913953, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767149990146_jmnzdrdf6", + "x": 0.5662943458908057, + "y": 0.684542288148574, + "width": 0.09329127330288918, + "height": 0.2298646077754518 + } + ] + }, + "point_1767149956539": { + "type": "point", + "instances": [ + { + "id": "point_1767149956539_1767149994593_q28ekq648", + "x": 0.5859346139545719, + "y": 0.1957162868033094 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向前移动。", + "correction_plan": "向左后侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子，向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动太多，没有在杯子上方。", + "frame": 168, + "progress": 10, + "progress_explanation": "爪夹移动幅度增大，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成将杯子移倒右边的任务应当：向左后侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子。", + "time": 5.608564619509133, + 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"state_description": "当前状态为爪夹将杯子夹起至空中。\n为了完成将杯子移倒右边的任务应当：继续向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "time": 13.38711101074738, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767150028225_gumvcg4l1", + "x": 0.6824992652680888, + "y": 0.4837744661674832, + "width": 0.07037762722849532, + "height": 0.1891291076633464 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，并稍微向下。", + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹角度正确，成功将杯子移动到右边。", + "frame": 514, + "progress": 90, + "progress_explanation": "爪夹将杯子移动至右侧，进度90%。", + "state_description": "当前状态为爪夹将杯子夹至右侧。\n为了完成将杯子移倒右边的任务应当：向下移动，松开爪夹。\n", + "time": 17.12615476962585, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767150031809_kkrfvoxt0", + "x": 0.6448554181458703, + "y": 0.45467768037312223, + "width": 0.07037762722849532, + "height": 0.13093553607462446 + } + ] + } + } + }, + { + "action_description": "向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功把蓝色杯子移到右边。", + "frame": 563, + "progress": 100, + "progress_explanation": "把蓝色杯子移到右边，进度100%。", + "state_description": "当前状态为爪夹张开，杯子在桌面上。", + "time": 18.76198641413518, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767150036153_8lhdy6bu4", + "x": 0.6350352841139874, + "y": 0.4692260732703027, + "width": 0.06055749319661219, + "height": 0.1280258574951883 + } + ] + }, + "point_1767149956539": { + "type": "point", + "instances": [ + { + "id": "point_1767149956539_1767150038033_ly8hjt3g3", + "x": 0.6890460212893441, + "y": 0.4692260732703027 + } + ] + }, + "point_1767149956722": { + "type": "point", + "instances": [ + { + "id": "point_1767149956722_1767150039872_10zw7jt4o", + "x": 0.7446934474700149, + "y": 0.5041422162235359 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767149955508", + "name": "杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767149956539", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767149956722", + "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_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c61bdd9b1a4c557a042ecd3722cd79b3213676 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json @@ -0,0 +1,342 @@ +{ + "task_description": "将桌上的笔，放在玻璃杯里\n准备开始移动：0%\n开始接近笔：20%\n触碰到笔：50%\n将笔夹起：75%\n将笔移动到玻璃杯上方：90%\n将笔放入玻璃杯：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向右侧移动至玻璃杯上方，向下移动，松开爪夹，笔落入玻璃杯中。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，笔在桌面上。\n为了完成将笔放在玻璃杯里的任务应当：向下移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 0.3877623034764479, + "annotations": { + "bbox_1767152200934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152200934_1767152228615_d73blzvkp", + "x": 0.4860965846304274, + "y": 0.6729035738308297, + "width": 0.062194182201926115, + "height": 0.08729035738308287 + } + ] + }, + "bbox_1767152201504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152201504_1767152231252_0gacoepcn", + "x": 0.5842979249492581, + "y": 0.629258395139288, + "width": 0.055647426180670756, + "height": 0.14548392897180495 + } + ] + }, + "point_1767152202401": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001073.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7e267eeda42158714f94e0e7005daf1cec272c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001073.json @@ -0,0 +1,273 @@ +{ + "task_description": "把锅盖放在桌子上\n准备开始移动：0%\n接近锅盖：20%\n触碰到锅盖：50%\n将锅盖夹起：75%\n将锅盖移动至桌面上方：90%\n将锅盖放在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖，向上移动，向左侧移动至桌面上方，向下移动，松开爪夹，锅盖落在桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把锅盖放在桌子上的任务应当：向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖。", + "time": 0.28221737398556335, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153611546_yn14e6ned", + "x": 0.4991900966729381, + "y": 0.4634067161114305, + "width": 0.06383087120723996, + "height": 0.17749039334560204 + } + ] + }, + "point_1767153590257": { + "type": "point", + "instances": [ + { + "id": "point_1767153590257_1767153613890_xe7bllujr", + "x": 0.7234164904009349, + "y": 0.5477873949150773 + } + ] + }, + "point_1767153590433": { + "type": "point", + "instances": [ + { + "id": "point_1767153590433_1767153616340_ygjfinlvq", + "x": 0.7528768924965841, + "y": 0.5739745021300022 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，并稍微向前。", + "correction_plan": "向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖，向上移动，向左侧移动至桌面上方，向下移动，松开爪夹，锅盖落在桌面上。", + "error_success_analysis": "爪夹角度调整正确，成功向锅盖接近。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近锅盖。\n为了完成把锅盖放在桌子上的任务应当：向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖。", + "time": 1.5427908757644344, + "annotations": { + 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"error_success_analysis": "爪夹松开正确，成功将锅盖放在桌子上。", + "frame": 304, + "progress": 100, + "progress_explanation": "锅盖放在桌子上，进度100%。", + "state_description": "当前状态为爪夹张开，锅盖在桌子上。", + "time": 10.141031029688975, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153657881_n29ofwzmd", + "x": 0.3829851772956552, + "y": 0.5274196448590247, + "width": 0.1260250534091661, + "height": 0.23277428635488784 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767153587034", + "name": "锅盖", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767153590257", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767153590433", + "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_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9311eca4fdd12824e44410ada30869e41c5b22 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json @@ -0,0 +1,308 @@ +{ + "task_description": "把毛巾移到左边\n准备开始移动：0%\n接近毛巾：20%\n触碰到毛巾：50%\n准备移动毛巾：75%\n将毛巾向左移动：90%\n毛巾到达指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹找你玩移动。", + "correction_plan": "向右前侧移动至毛巾上方，向下移动，触碰到毛巾，然后向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为毛巾在桌子右侧，爪夹暂未出现。\n为了完成把毛巾移到左边的任务应当：向右前侧移动至毛巾上方，向下移动，触碰到毛巾。", + "time": 1.1629441545407089, + "annotations": { + "bbox_1767163415374": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163415374_1767163446068_wqjn5wrwa", + "x": 0.6121216380395935, + "y": 0.3877550730460919, + "width": 0.1522120774941876, + "height": 0.16876135760729372 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向下移动，触碰到毛巾，然后向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向毛巾。\n为了完成把毛巾移到左边的任务应当：向下移动，触碰到毛巾，然后向左侧移动。", + "time": 2.2758695708623375, + "annotations": { + "point_1767163416389": { + "type": "point", + "instances": [ + { + "id": "point_1767163416389_1767163452184_bts4snzcq", + "x": 0.7626970265284673, + "y": 0.2364517869154148 + } + ] + }, + "point_1767163416917": { + "type": "point", + "instances": [ + { + "id": "point_1767163416917_1767163455035_5fa1d57rc", + "x": 0.8625350558526117, + "y": 0.2539098583920314 + } + ] + }, + "bbox_1767163415374": { + "type": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001263.json @@ -0,0 +1,233 @@ +{ + "task_description": "将红色物品向外移动一些\n准备开始移动：0%\n接近红色物品：20%\n触碰到红色物品：50%\n夹起红色物品：75%\n向外移动红色物品：90%\n红色物品落地：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品，向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹静止，红色物品在桌子上。\n为了完成将红色物品向外移动一些的任务应当：向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品。", + "time": 0.29942587143271265, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168188948_npy463oi6", + "x": 0.41080889038599055, + "y": 0.49832285906466367, + "width": 0.031097091100963058, + "height": 0.058193571588722015 + } + ] + }, + "point_1767168160433": { + "type": "point", + 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"action_description": "爪夹向前并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住红色物品，向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹移动角度正确，成功接近红色物品。", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹接近红色物品，进度20%。", + "state_description": "当前状态为爪夹张开，接近红色物品。\n为了完成将红色物品向外移动一些的任务应当：向下移动，合拢爪夹，夹住红色物品。", + "time": 3.7428292309273, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168205901_uu2ws8igz", + "x": 0.41080889038599055, + "y": 0.49541318048522753, + "width": 0.027823713090335288, + "height": 0.06692260732703027 + } + ] + }, + "point_1767168160433": { + "type": "point", + "instances": [ + { + "id": "point_1767168160433_1767168208013_ih2vnsvek", + "x": 0.4517261155188367, + "y": 0.49250350190579145 + } + ] + } + } + }, + { + "action_description": "向下移动，爪夹合拢。", + "correction_plan": "合拢爪夹，夹住红色物品，向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹移动角度正确，成功触碰到红色物品。", + "frame": 165, + "progress": 50, + "progress_explanation": "爪夹触碰到红色物品，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住红色物品。\n为了完成将红色物品向外移动一些的任务应当：向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "time": 5.506117907769938, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168212132_34za7gre6", + "x": 0.4124455793913044, + "y": 0.48959382332635537, + "width": 0.026187024085021448, + "height": 0.0465548572709776 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹夹取正确，成功夹住红色物品。", + "frame": 184, + "progress": 75, + "progress_explanation": "爪夹夹住红色物品，进度75%。", + "state_description": "当前状态为爪夹夹住红色物品。\n为了完成将红色物品向外移动一些的任务应当：向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "time": 6.121605464781049, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168215901_stkyc04to", + "x": 0.4124455793913044, + "y": 0.5128712519618441, + "width": 0.026187024085021448, + "height": 0.04946453585041368 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹移动正确。", + "frame": 198, + "progress": 90, + "progress_explanation": "向外移动红色物品，进度90%。", + "state_description": "当前状态为爪夹夹起红色物品。\n为了完成将红色物品向外移动一些的任务应当：松开爪夹，红色物品向外移动一些。", + "time": 6.604014631087053, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168219332_m9pdxg5im", + "x": 0.41080889038599055, + "y": 0.4634067161114305, + "width": 0.018003579058452245, + "height": 0.07274196448590252 + } + ] + }, + "point_1767168160433": { + "type": "point", + "instances": [ + { + "id": "point_1767168160433_1767168221579_t42nx7v3u", + "x": 0.43372253646038433, + "y": 0.5099615733824081 + } + ] + } + } + }, + { + "action_description": "松开爪夹向上移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确。", + "frame": 223, + "progress": 100, + "progress_explanation": "红色物品落地，进度100%。", + "state_description": "当前状态为爪夹张开，红色物品向外一些。", + "time": 7.41911977415582, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168226901_wlyok3ok3", + "x": 0.4091722013806767, + "y": 0.477955109008611, + "width": 0.026187024085021448, + "height": 0.0931097145419552 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767168159581", + "name": "红色物品", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767168160246", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767168160433", + "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_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json new file mode 100644 index 0000000000000000000000000000000000000000..149090a19231466e6db0ba9baf3f81faab4399a6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json @@ -0,0 +1,267 @@ +{ + "task_description": "把黑色的东西稍微向右移动\n准备开始移动：0%\n接近黑色物品：20%\n触碰到黑色物品：50%\n将黑色物品夹起：75%\n移动黑色物品：90%\n将黑色物品移至指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品，向上移动，然后向右侧移动，向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成将黑色物品稍微向右移动的任务应当：向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品。", + "time": 1.580190670873103, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170925024_1767170952320_6ydc6z0r1", + "x": 0.5204670537420182, + "y": 0.6030712879243633, + "width": 0.05401073717535691, + "height": 0.08438067880364686 + } + ] + }, + "point_1767170925897": { + "type": "point", + "instances": [ + { + "id": "point_1767170925897_1767170954296_t613h9lxf", + "x": 0.7283265574168765, + "y": 0.5157809305412803 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品，向上移动，然后向右侧移动，向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 84, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向黑色物品。\n为了完成将黑色物品稍微向右移动的任务应当：向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品。", + "time": 2.801987965736785, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170925024_1767170959216_oto7kfzar", + "x": 0.5204670537420182, + "y": 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+ { + "action_description": "向右前侧移动。", + "correction_plan": "向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "爪夹移动正确，成功将黑色物品移动。", + "frame": 245, + "progress": 90, + "progress_explanation": "移动黑色物品，进度90%。", + "state_description": "当前状态为爪夹将黑色物品夹至右前侧。\n为了完成将黑色物品稍微向右移动的任务应当：向下移动，松开爪夹，黑色物品落在桌子上。", + "time": 8.161605432538803, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170925024_1767170980591_3eyxeofn5", + "x": 0.5237404317526458, + "y": 0.43140025173763336, + "width": 0.037643847122218424, + "height": 0.0785613216447747 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹向右前侧移动正确，成功将黑色物品移至指定位置。", + "frame": 278, + "progress": 100, + "progress_explanation": "黑色物品移至指定位置，进度100%。", + "state_description": "当前状态为爪夹松开，黑色物品落在桌子上。", + "time": 9.269368313215207, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001044.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001044.json new file mode 100644 index 0000000000000000000000000000000000000000..0050577ceceecb6b02ef95cf8f901fa6f97daa4c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001044.json @@ -0,0 +1,497 @@ +{ + "task_description": "拿起板擦擦白板\n准备开始移动：0%\n接近板擦：20%\n触碰到板擦：30%\n将板擦夹起：50%\n板擦接触到白板：70%\n开始擦白板：80%\n将白板擦干净：90%\n放下板擦：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动，合拢爪夹，夹住板擦，向上移动，向右上方移动至白板前面，向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + 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"爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，在板擦的上方。\n为了完成拿起板擦擦白的任务应当：继续向下移动，合拢爪夹，夹住板擦。", + "time": 2.6279031071360097, + "annotations": { + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496690605_o491oxkph", + "x": 0.5153332815348339, + "y": 0.3129629584418403, + "width": 0.21399998693847727, + "height": 0.28977777777777775 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496693533_l8h5yv14c", + "x": 0.45133328544108364, + "y": 0.6252592502170139 + } + ] + }, + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496695644_m6t8z0v5t", + "x": 0.7703332659708699, + "y": 0.648370361328125 + } + ] + } + } + }, + { + "action_description": "向下移动，爪夹向右旋转。", + "correction_plan": "向下移动，合拢爪夹，夹住板擦，向上移动，向右上方移动至白板前面，向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "error_success_analysis": "爪夹旋转角度正确，成功接近板擦。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹接近板擦，进度20%。", + "state_description": "当前找他为爪夹张开，接近板擦。\n为了完成拿起板擦擦白的任务应当：继续向下移动，合拢爪夹，夹住板擦。", + "time": 4.673676174286444, + "annotations": { + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496704774_p0nhnlli0", + "x": 0.5003332824503611, + "y": 0.18081480577256948, + "width": 0.14299999127197313, + "height": 0.5848888888888889 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496706988_8w2moaj7n", + "x": 0.4603332848917672, + "y": 0.6270370279947917 + } + ] + }, + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496709076_knjb2it56", + "x": 0.7683332660929403, + "y": 0.6199259168836805 + } + ] + } + } + }, + { + "action_description": "向下移动，合拢爪夹。", + "correction_plan": "向上移动，向右上方移动至白板前面，向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "error_success_analysis": "爪夹合拢正确成功夹住板擦。", + "frame": 216, + "progress": 30, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001348.json new file mode 100644 index 0000000000000000000000000000000000000000..f48bf01e955a99ec3621c385790d5b3a9ca0c3c1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001348.json @@ -0,0 +1,353 @@ +{ + "task_description": "把钢笔从杯子里拿出来\n准备开始移动：0%\n接近钢笔：20%\n触碰到钢笔：50%\n将钢笔夹起：75%\n将钢笔移动到桌子上方：90%\n松开爪夹钢笔落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔，向上移动，向前移动，向下移动松开爪夹，钢笔落在桌子上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把钢笔从杯子里拿出来的任务应当：向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔。", + "time": 0.25743738134687544, + "annotations": { + "point_1767173392727": { + "type": 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+1,352 @@ +{ + "task_description": "将白色物品放在杯子里\n准备开始移动：0%\n接近白色物品：20%\n触碰到白色物品：50%\n将白色物品夹起：75%\n将白色物品移动至杯子上方：90%\n白色物品落入杯子中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右侧移动至白色物品上方，向下移动，合拢爪夹夹起白色物品，向上移动，向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，没有移动。\n为了完成将白色物品放在杯子里的任务应当：向右侧移动至白色物品上方，向下移动，合拢爪夹夹起白色物品。", + "time": 1.5435938734944346, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174715029_vzhcuc0ik", + "x": 0.7005028443265411, + "y": 0.7747423241110931, + "width": 0.040917225132846104, + "height": 0.09601939312139128 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174718110_lwoz7r282", + "x": 0.4419059814869536, + "y": 0.6903616453074461, + "width": 0.08838120628694757, + "height": 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+ "x": 0.4451793594975813, + "y": 0.7281874668401156, + "width": 0.09001789529226141, + "height": 0.15712264328954922 + } + ] + }, + "point_1767174686326": { + "type": "point", + "instances": [ + { + "id": "point_1767174686326_1767174741797_gxecc29v0", + "x": 0.7103229783584242, + "y": 0.5914325736066188 + } + ] + }, + "point_1767174686517": { + "type": "point", + "instances": [ + { + "id": "point_1767174686517_1767174743845_soblf9d6u", + "x": 0.7561502705072118, + "y": 0.5477873949150773 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹夹起白色物品，向上移动，向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "爪夹向下移动正确，成功接近白色物品。", + "frame": 154, + "progress": 20, + "progress_explanation": "爪夹接近白色物品，进度20%。", + "state_description": "当前状态为爪夹张开，接近白色物品。\n为了完成将白色物品放在杯子里的任务应当：向下移动，合拢爪夹夹起白色物品，向上移动，向左侧移动至杯子上方。", + "time": 5.14531450463059, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": 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"progress_explanation": "触碰到白色物品，进度50%。", + "state_description": "当前状态为爪夹夹住白色物品。\n为了完成将白色物品放在杯子里的任务应当：向上移动，向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "time": 8.053536132256058, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174761933_5za1w9mif", + "x": 0.7086862893531103, + "y": 0.7951100741671456, + "width": 0.04746398115410146, + "height": 0.10183875028026344 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174764446_z71nqhfxo", + "x": 0.4517261155188367, + "y": 0.6990906810457544, + "width": 0.08347113927100605, + "height": 0.17458071476616596 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后稍微向左移动。", + "correction_plan": "向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "爪夹向上移动正确，成功将白色物品夹至空中。", + "frame": 281, + "progress": 75, + "progress_explanation": "爪夹将白色物品夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白色物品夹至空中。\n为了完成将白色物品放在杯子里的任务应当：向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "time": 9.351050396888958, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174768381_f1u2yoblu", + "x": 0.6448554181458703, + "y": 0.6001616093449271, + "width": 0.04582729214878763, + "height": 0.08438067880364686 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174771108_81bafgl7n", + "x": 0.4304491584497566, + "y": 0.6961810024663184, + "width": 0.12111498639322456, + "height": 0.17167103618672988 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，然后稍微向下移动。", + "correction_plan": "松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "爪夹向左移动正确，成功将白色物品移动至杯子上方。", + "frame": 336, + "progress": 90, + "progress_explanation": "白色物品移动至杯子上方，进度90%。", + "state_description": "当前状态为爪夹将白色物品夹至杯子上方。\n为了完成将白色物品放在杯子里的任务应当：松开爪夹，白色物品落入杯子中。", + "time": 11.185467115852713, + "annotations": { + 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+ "id": "point_1767174686517", + "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_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json new file mode 100644 index 0000000000000000000000000000000000000000..05d7e11eaea5aadacd87fabf70f68dbd8e369119 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json @@ -0,0 +1,384 @@ +{ + "task_description": "把菠萝毛绒玩具放进抽屉里，把它关上\n准备开始移动：0%\n接近菠萝毛绒玩具：20%\n触碰到菠萝毛绒玩具：40%\n夹起菠萝毛绒玩具：50%\n将菠萝毛绒玩具移动至抽屉上方：60%\n将菠萝毛绒玩具放入抽屉：70%\n触碰到抽屉：80%\n开始关闭抽屉：90%\n将抽屉完全关闭：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为抽屉打开，爪夹在抽屉上方。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具。", + "time": 0.22199271466802448, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509665247_95b9loimj", + "x": 0.23333329874674685, + "y": 0.5600740695529515, + "width": 0.08299999493408236, + "height": 0.12799999999999995 + } + ] + }, + "bbox_1767509630648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630648_1767509671470_lx0udpyr3", + "x": 0.44433328586832965, + "y": 0.600370361328125, + "width": 0.33999997924804815, + "height": 0.3875555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左移动。", + "correction_plan": "向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 40, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具。", + "time": 1.3188998621423553, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509684081_k91zjeqmc", + "x": 0.21833329966227416, + "y": 0.552370361328125, + "width": 0.1009999938354496, + "height": 0.1742222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向下运动。", + "correction_plan": "向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 109, + "progress": 20, + "progress_explanation": "爪夹接近菠萝毛绒玩具，进度20%。", + "state_description": 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} + } + }, + { + "action_description": "爪夹向右前侧移动，并且向下。", + "correction_plan": "合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "爪夹向右前侧移动正确，成功触碰到菠萝毛绒玩具", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹触碰到菠萝毛绒玩具，进度40%。", + "state_description": "当前状态为爪夹触碰到菠萝毛绒玩具。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方。", + "time": 5.3735387822706855, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509727087_vee9di37n", + "x": 0.22433329929606324, + "y": 0.552370361328125, + "width": 0.10699999346923868, + "height": 0.14044444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向上移动。", + "correction_plan": "向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "爪夹合拢正确，成功夹起菠萝毛绒玩具。", + "frame": 195, + "progress": 50, + "progress_explanation": "爪夹将菠萝毛绒玩具夹起，进度50%", + "state_description": "当前状态为爪夹将菠萝毛绒玩具夹至空中。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉。", + "time": 6.490033557378486, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509737918_7dnxi8r5z", + "x": 0.2013333006998718, + "y": 0.41903702799479164, + "width": 0.09499999420166047, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1767509630648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630648_1767509741610_4xkubtsyw", + "x": 0.44633328574625936, + "y": 0.5861481391059028, + "width": 0.31299998089599723, + "height": 0.4000000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "爪夹向后移动正确，成功将菠萝毛绒玩具夹至抽屉上方。", + "frame": 243, + "progress": 60, + "progress_explanation": "爪夹将菠萝毛绒玩具放入抽屉上方，进度60%", + "state_description": "当前状态为爪夹将菠萝毛绒玩具夹至抽屉上方。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉。", + 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"bbox_1767509630648", + "name": "抽屉", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767509631719", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767509631911", + "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_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002474.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002474.json new file mode 100644 index 0000000000000000000000000000000000000000..b18a5e581d24b81918c3757d5b3b6546080ffdcf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002474.json @@ -0,0 +1,405 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：75%\n将马克笔移至桌面上方：90%\n将马克笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "爪夹找你玩移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.42226761196064977, + "annotations": { + "bbox_1767512904285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512904285_1767512931126_z2ntytuts", + "x": 0.324333293192548, + "y": 0.6454074028862847, + "width": 0.036999997741699354, + "height": 0.12800000000000003 + } + ] + }, + "point_1767512905014": { + "type": "point", + "instances": [ + { + "id": "point_1767512905014_1767512933981_6a5n2dp4i", + "x": 0.15433330356852396, + "y": 0.10614813910590279 + } + ] + }, + "point_1767512905190": { + "type": "point", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002556.json @@ -0,0 +1,445 @@ +{ + "task_description": "把绿色毛巾移到左边\n准备开始移动：0%\n接近绿色毛巾：20%\n触碰到绿色毛巾：50%\n开始移动绿色毛巾：70%\n将绿色毛巾移到指定位置：90%\n爪夹离开毛巾：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动，爪夹压住绿色毛巾，向左侧移动，将绿色毛巾移动至指定位置，爪夹向上移动，离开绿色毛巾。", + "error_success_analysis": "", + "frame": 28, + "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为了完成把绿色毛巾移到左边的任务应当：向下移动，爪夹压住绿色毛巾，向左侧移动。", + "time": 0.9442380195037516, + "annotations": { + "bbox_1767515426955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515426955_1767515449235_yrxdgenae", + "x": 0.4583332850138375, + "y": 0.4925185139973958, + "width": 0.14299999127197321, + "height": 0.19911111111111113 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": 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"爪夹暂未移动。", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动，将马克笔移动至桌面上方，向下移动，，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "", + "frame": 10, + "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为了完成把马克笔从杯子上拿下来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动。", + "time": 0.32325290733844514, + "annotations": { + "bbox_1767517691152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767517691152_1767517713244_4abufnx1x", + "x": 0.3993332886149116, + "y": 0.6062962917751736, + "width": 0.07199999560546902, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动，将马克笔移动至桌面上方，向下移动，，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把马克笔从杯子上拿下来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动。", + "time": 1.5325999467068108, + 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"state_description": "当前状态为爪夹张开，马克笔落在桌子上。", + "time": 16.455256331594796, + "annotations": { + "bbox_1767519666726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767519666726_1767519763243_qttcsi7yn", + "x": 0.44833328562418906, + "y": 0.4865925835503472, + "width": 0.06499999603271514, + "height": 0.05155555555555556 + } + ] + }, + "point_1767519667429": { + "type": "point", + "instances": [ + { + "id": "point_1767519667429_1767519765483_ie8bfyl9n", + "x": 0.4823332835489939, + "y": 0.41903702799479164 + } + ] + }, + "point_1767519667631": { + "type": "point", + "instances": [ + { + "id": "point_1767519667631_1767519767724_5di3o3334", + "x": 0.5223332811075878, + "y": 0.4510370279947917 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767519666726", + "name": "马克笔", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767519667429", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767519667631", + "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_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e8833ec676446bbd2dc66d1f82d54b59dfa882 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json @@ -0,0 +1,365 @@ +{ + "task_description": "从工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上。\n准备开始移动：0%\n开始接近马克杯：20%\n触碰到马克杯：50%\n将马克杯移至水龙头下：75%\n接满水：80%\n将马克杯移至左边：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯。", + "time": 1.181350962038023, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582091956_b7neg3knf", + "x": 0.39033328916422794, + "y": 0.2880740695529514, + "width": 0.043999997314453275, + "height": 0.08888888888888889 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582094755_aydkfsc5t", + "x": 0.5163332814737986, + "y": 0.3621481391059028 + } + ] + }, + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582097060_aj3neeizh", + "x": 0.5733332779947949, + "y": 0.3870370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 113, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近马克杯。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯。", + "time": 3.764306096418363, + "annotations": { + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582102325_1p5fsm7b8", + "x": 0.47633328391520485, + "y": 0.36570369466145836 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582106107_lbu6c1ic0", + "x": 0.4343332864786812, + "y": 0.3781481391059028 + } + ] + }, + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582110637_ek5nrt849", + "x": 0.39433328892008734, + "y": 0.29814813910590277, + "width": 0.034999997863769616, + "height": 0.06044444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹向左并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近马克杯。", + "frame": 213, + "progress": 20, + "progress_explanation": "爪夹接近马克杯，进度20%。", + "state_description": "当前状态为爪夹向下，接近马克杯。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向下移动，合拢爪夹，夹住马克杯。", + "time": 7.098120281490663, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582115291_2ys89nzf4", + "x": 0.39033328916422794, + "y": 0.2839259168836806, + "width": 0.03399999792480481, + "height": 0.08711111111111111 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582117979_am7sxx9kf", + "x": 0.4193332873942085, + "y": 0.3461481391059028 + } + ] + }, + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582120947_te06tsqt8", + "x": 0.44833328562418906, + "y": 0.3390370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左侧移动，合拢爪夹。", + "correction_plan": "合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹马克杯。", + "frame": 284, + "progress": 30, + "progress_explanation": "爪夹准备触碰马克杯，进度30%。", + "state_description": "当前状态为爪夹更加接近马克杯，准备触碰马克杯。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方。", + "time": 9.470834881677254, + "annotations": { + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582125641_bmfqsrd90", + "x": 0.4413332860514352, + "y": 0.33725925021701386 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582128229_8sluc9e0a", + "x": 0.42133328727213815, + "y": 0.33725925021701386 + } + ] + }, + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹向上移动正确，成功将马克杯夹起。", + "frame": 410, + "progress": 60, + "progress_explanation": "将马克杯夹至空中,进度60%。", + "state_description": "当前状态为爪夹将马克杯夹住。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "time": 13.675645565552225, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582149435_0rhdn2qqy", + "x": 0.4643332846476266, + "y": 0.2874814724392361, + "width": 0.04199999743652363, + "height": 0.07111111111111114 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动。", + "correction_plan": "接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，成功将马克杯移动至水龙头下。", + "frame": 527, + "progress": 75, + "progress_explanation": "将马克杯移至水龙头下，进度75%。", + "state_description": "当前状态为爪夹将马克杯移动至水龙头下。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "time": 17.580112629150413, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582154179_obin8xvf2", + "x": 0.5713332781168653, + "y": 0.3479259168836806, + "width": 0.04199999743652363, + "height": 0.0942222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹保持静止。", + "correction_plan": "向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹判断正确，马克杯成功接满水。", + "frame": 683, + "progress": 80, + "progress_explanation": "接满水，进度80%。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向左侧移动至桌面上方，向下移动松开爪夹。", + "state_description": "当前状态为爪夹等待水接满。\n", + "time": 22.776057259938774, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582157707_0ofx9hfi4", + "x": 0.5593332788492871, + "y": 0.3799259168836806, + "width": 0.04099999749755874, + "height": 0.07288888888888884 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向后移动，然后向左并向下移动。", + "correction_plan": "向下移动松开爪夹。", + "error_success_analysis": "爪夹成功将马克杯重新移回左侧。", + "frame": 810, + "progress": 90, + "progress_explanation": "将马克杯移至左边，进度90%。", + "state_description": "当前状态为爪夹将马克杯重新放回左侧。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向下移动松开爪夹。", + "time": 27.010902305841423, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582161578_ash2f7730", + "x": 0.44433328586832965, + "y": 0.26792591688368056, + "width": 0.04199999743652363, + "height": 0.08888888888888885 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹判断正确，成功完成任务。", + "frame": 850, + "progress": 100, + "progress_explanation": "爪夹将马克杯重新放回左边，进度100%", + "state_description": "当前状态为爪夹将马克杯重新放回左边。", + "time": 28.33241423505927, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582164973_6oqbd4dgq", + "x": 0.4403332861124703, + "y": 0.2874814724392361, + "width": 0.038999997619629044, + "height": 0.0657777777777778 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582167533_obaretj1n", + "x": 0.45233328538004847, + "y": 0.3088148057725695 + } + ] + }, + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582170219_zt8s0t9lc", + "x": 0.49033328306071267, + "y": 0.32303702799479167 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767582062542", + "name": "马克杯", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767582064045", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767582064229", + "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_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002571.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002571.json new file mode 100644 index 0000000000000000000000000000000000000000..e9df838d0b069760aad899e9c1b9398f114d07ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002571.json @@ -0,0 +1,385 @@ +{ + "task_description": "把黄色的小包放在打开的柜子里\n准备开始移动：0%\n接近黄色的小包：20%\n触碰到黄色的小包：50%\n夹起黄色的小包：75%\n将黄色的小包移动到指定位置：90%\n爪夹离开黄色的小包：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至黄色的小包的上方，向下移动，合拢爪夹，夹住黄色的小包，向上移动至柜子里，向下移动，松开爪夹，黄色的小包落在柜子里。", + "error_success_analysis": "", + "frame": 0, + "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为了完成把黄色的小包放在打开的柜子里的任务应当：向前移动至黄色的小包的上方，向下移动，合拢爪夹，夹住黄色的小包。", + "time": 0, + "annotations": { + 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"error_success_analysis": "爪夹向上移动正确。", + "frame": 225, + "progress": 75, + "progress_explanation": "爪夹将瓶子夹至空中，进度75%", + "state_description": "当前状态为爪夹将瓶子夹至空中。\n为了完成把桌子上的瓶子捡起来放进盒子里的任务应当：向左移动至盒子上方，向下移动，松开爪夹，瓶子落入盒子。", + "time": 7.495531880768018, + "annotations": { + "point_1767585024395": { + "type": "point", + "instances": [ + { + "id": "point_1767585024395_1767585152287_udmo8c0pu", + "x": 0.5943332767130568, + "y": 0.376370361328125 + } + ] + }, + "bbox_1767585054948": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585054948_1767585157607_mkfxt6mpy", + "x": 0.33833329233805587, + "y": 0.4937036946614583, + "width": 0.1879999885253913, + "height": 0.42666666666666675 + } + ] + }, + "bbox_1767585019850": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585019850_1767585161728_3b8psc0fj", + "x": 0.5003332824503611, + "y": 0.31059258355034725, + "width": 0.14299999127197313, + "height": 0.10844444444444443 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，稍微向下。", + "correction_plan": "向下移动，松开爪夹，瓶子落入盒子。", + "error_success_analysis": "爪夹向左移动幅度正确，成功将瓶子移动至盒子上方", + "frame": 260, + "progress": 80, + "progress_explanation": "爪夹将瓶子移动至盒子上方，进度80%。", + "state_description": "当前状态为爪夹将瓶子移动至盒子上方。\n为了完成把桌子上的瓶子捡起来放进盒子里的任务应当：向下移动，松开爪夹，瓶子落入盒子。", + "time": 8.664603972155135, + "annotations": { + "bbox_1767585019850": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585019850_1767585166143_166flq68m", + "x": 0.3733332902018255, + "y": 0.3532592502170139, + "width": 0.11799999279785198, + "height": 0.12977777777777774 + } + ] + }, + "bbox_1767585054948": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585054948_1767585169431_pbqjn9zyp", + "x": 0.3263332930704777, + "y": 0.47948147243923617, + "width": 0.22399998632812584, + "height": 0.44444444444444436 + } + ] + }, + "point_1767585024395": { + "type": "point", + "instances": [ + { + "id": "point_1767585024395_1767585171112_2gn4b1dv4", + "x": 0.4413332860514352, + "y": 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0000000000000000000000000000000000000000..5b72f417982ecd2082205e4ccc0c16dc54c4daa3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003873.json @@ -0,0 +1,365 @@ +{ + "task_description": "关闭柜门\n准备移动：0%\n接近柜门：20%\n触碰到柜门：50%\n开始关闭柜门：75%\n关闭柜门：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右移动至打开的柜门，向下移动至柜门的吧手处，向前移动夹住把手，向后移动，然后向左侧移动，关闭柜门。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹找你玩移动，进度0%。", + "state_description": "当前状态为爪夹张开，柜门打开。\n为了完成关闭柜门的任务应当：向右移动至打开的柜门，向下移动至柜门的把手处，向前移动夹住把手。", + "time": 0.8812825282975643, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597164020_4patisq9x", + "x": 0.37233329026286066, + "y": 0.46585184733072915, + "width": 0.022999998596191507, + "height": 0.13333333333333333 + 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"当前状态为爪夹非常接近柜门把手，准备触碰柜门把手。\n为了完成关闭柜门的任务应当：向下移动至柜门的把手处，向前移动夹住把手。", + "time": 8.601969164139508, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597201020_xxdn1wnya", + "x": 0.37233329026286066, + "y": 0.4652592502170139, + "width": 0.021999998657226662, + "height": 0.14400000000000002 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597203164_ajrodr97s", + "x": 0.4193332873942085, + "y": 0.48303702799479165 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，合拢爪夹。", + "correction_plan": "向后移动，然后向左侧移动，关闭柜门。", + "error_success_analysis": "爪夹合拢角度正确，成功夹住把手。", + "frame": 343, + "progress": 50, + "progress_explanation": "当前进度为爪夹触碰到把手，进度50%。", + "state_description": "当前状态为爪夹合拢夹住柜门把手。\n为了完成关闭柜门的任务应当：向后移动，然后向左侧移动，关闭柜门。", + "time": 11.440456897904927, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": 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"error_success_analysis": "爪夹向前移动正确，成功关闭柜门。", + "frame": 422, + "progress": 90, + "progress_explanation": "爪夹将柜门关闭，进度90%。", + "state_description": "当前状态为爪夹将柜门关闭。\n为了完成关闭柜门的任务应当：松开爪夹。", + "time": 14.068085542876346, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597233852_bnxjptkp7", + "x": 0.23133329886881718, + "y": 0.45992591688368056, + "width": 0.03299999798583997, + "height": 0.14044444444444446 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597236948_1p6shrgg1", + "x": 0.2463332979532899, + "y": 0.5168148057725694 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功关闭柜门。", + "frame": 468, + "progress": 100, + "progress_explanation": "完成任务，进度100%", + "state_description": "当前状态为爪夹松开，柜门关闭。", + "time": 15.592758954156057, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003135.json new file mode 100644 index 0000000000000000000000000000000000000000..b62c47cf3e86c6917a91e69cfa6d668c2bb1b36c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003135.json @@ -0,0 +1,634 @@ +{ + "task_description": "把黑色衣服放到箱子里\n准备开始移动：0%\n接近黑色衣服：20%\n触碰到黑色衣服：50%\n将黑色衣服夹起：70%\n将黑色衣服放入箱子：90%\n松开爪夹：100%%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服，向上移动，然后向右侧移动至箱子上方，向下移动，松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把黑色衣服放到箱子里的任务应当：向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 0, + "annotations": { + "bbox_1767602401524": { + 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"error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 38, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近黑色衣服。\n为了完成把黑色衣服放到箱子里的任务应当：向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 1.251981255629439, + "annotations": { + "point_1767602402845": { + "type": "point", + "instances": [ + { + "id": "point_1767602402845_1767602450275_ydat3gitb", + "x": 0.4663332845255563, + "y": 0.21814813910590278 + } + ] + }, + "point_1767602402653": { + "type": "point", + "instances": [ + { + "id": "point_1767602402653_1767602453531_ofieab60z", + "x": 0.37633329001872007, + "y": 0.19681480577256943 + } + ] + }, + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602455886_p4qf24jtn", + "x": 0.33133329276530193, + "y": 0.16303702799479167, + "width": 0.09399999426269563, + "height": 0.2275555555555556 + } + ] + }, + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹向后移动。", + "correction_plan": "松开爪夹，向上移动，向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服，向上移动，然后向右侧移动至箱子上方，向下移动，松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "爪夹识别错误，夹错物品。", + "frame": 178, + "progress": -20, + "progress_explanation": "爪夹夹错物品，进度-20%。", + "state_description": "当前状态为爪夹夹着椅子向后。\n为了完成把黑色衣服放到箱子里的任务应当：松开爪夹，向上移动，向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 5.933561807442842, + "annotations": { + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401716_1767602496635_3a15avtbr", + "x": 0.36833329050700125, + "y": 0.5399259168836805, + "width": 0.31699998065185664, + "height": 0.37333333333333335 + } + ] + }, + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602499499_va4t72h4y", + "x": 0.3493332916666692, + "y": 0.1594814724392361, + "width": 0.12699999224853564, + "height": 0.28977777777777775 + } + ] + } + } + }, + { + "action_description": "爪夹松开，稍微向上移动。", + "correction_plan": 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+ }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "爪夹向下移动正确，成功将黑色衣服放入箱子", + "frame": 435, + "progress": 90, + "progress_explanation": "爪夹将黑色衣服放入箱子，进度90%", + "state_description": "当前状态为爪夹将黑色衣服放入箱子。\n为了完成把黑色衣服放到箱子里的任务应当：松开爪夹，黑色衣服落入箱子。", + "time": 14.495692018173816, + "annotations": { + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602571025_k9mav9whb", + "x": 0.4033332883707709, + "y": 0.47770369466145834, + "width": 0.1279999921875005, + "height": 0.2915555555555555 + } + ] + }, + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401716_1767602574978_gqkntoqdg", + "x": 0.39333328898112246, + "y": 0.5168148057725694, + "width": 0.2969999818725596, + "height": 0.4391111111111111 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将黑色衣服放入箱子。", + "frame": 452, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹落在箱子里。", + "time": 15.065313986455296, + "annotations": { + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401716_1767602579937_y3jtk8ou7", + "x": 0.383333289591474, + "y": 0.5310370279947917, + "width": 0.29099998223877055, + "height": 0.3893333333333334 + } + ] + }, + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602582849_9boyg4kry", + "x": 0.40933328800456004, + "y": 0.6377036946614584, + "width": 0.13499999176025437, + "height": 0.18844444444444444 + } + ] + }, + "point_1767602402653": { + "type": "point", + "instances": [ + { + "id": "point_1767602402653_1767602585489_zfyccvme5", + "x": 0.46933328434245086, + "y": 0.4581481391059028 + } + ] + }, + "point_1767602402845": { + "type": "point", + "instances": [ + { + "id": "point_1767602402845_1767602587457_xdf77uefu", + "x": 0.4893332831217478, + "y": 0.5221481391059027 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767602401524", + "name": "黑色衣服", + "color": "#4CAF50" + }, + { + "id": "bbox_1767602401716", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767602402653", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767602402845", + "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_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json new file mode 100644 index 0000000000000000000000000000000000000000..35129f8ef7ace4c0cdd12699476c93ed6dd79c78 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json @@ -0,0 +1,460 @@ +{ + "task_description": "把电缆挑出来放进盒子里\n准备开始移动：0%\n接近电缆：20%\n触碰到电缆：50%\n将电缆夹起：75%\n将电缆夹至盒中：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆，向上移动，向前移动至盒子上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "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，电缆在桌子上。\n为了完成把电缆挑出来放进盒子里的任务应当：向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆。", + "time": 1.3872618861627082, + "annotations": { + "bbox_1767604217968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604217968_1767604244215_xy1kvddoh", + "x": 0.521333281168623, + "y": 0.6258518473307292, + "width": 0.11099999322509806, + "height": 0.1262222222222223 + } + ] + }, + "bbox_1767604218138": { + "type": "bbox", + "instances": [ + { + 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"当前状态为爪夹将电缆夹起。\n为了完成把电缆挑出来放进盒子里的任务应当：向上移动，向前移动至盒子上方，向下移动，松开爪夹。", + "time": 8.100800830738072, + "annotations": { + "bbox_1767604217968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604217968_1767604302070_82n8ajmxv", + "x": 0.4663332845255563, + "y": 0.6039259168836806, + "width": 0.09499999420166053, + "height": 0.18844444444444453 + } + ] + }, + "bbox_1767604218138": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604218138_1767604304470_5af021piq", + "x": 0.514333281595869, + "y": 0.4421481391059027, + "width": 0.1539999906005865, + "height": 0.14933333333333337 + } + ] + }, + "point_1767604219648": { + "type": "point", + "instances": [ + { + "id": "point_1767604219648_1767604307302_gm1uo78fo", + "x": 0.560333278788252, + "y": 0.7159259168836806 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "前移动至盒子上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功向盒子移动。", + "frame": 282, + "progress": 80, + "progress_explanation": "爪夹向盒子移动，进度80%。", + "state_description": "当前状态为爪夹向盒子方向移动。\n为了完成把电缆挑出来放进盒子里的任务应当：前移动至盒子上方，向下移动，松开爪夹。", + "time": 9.407055014524227, + "annotations": { + "bbox_1767604217968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604217968_1767604314727_8xuoqtyu2", + "x": 0.5393332800699902, + "y": 0.44392591688368055, + "width": 0.09499999420166053, + "height": 0.1422222222222222 + } + ] + }, + "bbox_1767604218138": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604218138_1767604316878_l6i5qydle", + "x": 0.5033332822672556, + "y": 0.4368148057725695, + "width": 0.176999989196778, + "height": 0.2222222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功将电缆放入盒子。", + "frame": 317, + "progress": 90, + "progress_explanation": "电缆进入盒中，进度90%。", + "state_description": "当前状态为爪夹将电缆放入盒子。\n为了完成把电缆挑出来放进盒子里的任务应当：松开爪夹。", + "time": 10.5614191769399, + "annotations": { + "bbox_1767604218138": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003586.json new file mode 100644 index 0000000000000000000000000000000000000000..281f2090d180f59b4e4835ec62e9d06fc0a5ee0f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003586.json @@ -0,0 +1,305 @@ +{ + "task_description": "把灰色的布移到左边\n准备开始移动：0%\n接近灰色的布：20%\n触碰到灰色的布：50%\n将灰色的布夹起：70%\n将灰色的布移至左边：90%\n松开爪夹：100%%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动，然后稍微向右侧移动，向下移动，合拢爪夹，夹住灰色的布，向上移动，向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为灰色的布子在桌子上。\n为了完成将灰色的布移到左边的任务应当：向前移动，然后稍微向右侧移动，向下移动，合拢爪夹，夹住灰色的布。", + "time": 1.891041802228425, + "annotations": { + "bbox_1767606536970": { + 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0.1239999924316411, + "height": 0.096 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "继续向上移动，向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功夹起灰色的布。", + "frame": 506, + "progress": 70, + "progress_explanation": "爪夹将灰色的布夹起，进度70%。", + "state_description": "当前状态为爪夹将灰色的布夹起。\n为了完成将灰色的布移到左边的任务应当：向上移动，向左侧移动，向下移动，松开爪夹。", + "time": 16.87825711073664, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606599209_26vxxcdab", + "x": 0.5763332778116895, + "y": 0.042148139105902774, + "width": 0.12199999255371141, + "height": 0.29866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，稍微向左移动。", + "correction_plan": "向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确。", + "frame": 546, + "progress": 80, + "progress_explanation": "爪夹将灰色的布夹至空中，进度80%。", + "state_description": "当前状态为爪夹将灰色的布夹至空中。\n为了完成将灰色的布移到左边的任务应当：向左侧移动，向下移动，松开爪夹。", + "time": 18.190696869391317, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606603122_vd2iq2ygj", + "x": 0.5333332804362011, + "y": 0.010148139105902778, + "width": 0.15899999029541068, + "height": 0.3057777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向左移动正确，成功将灰色的布移至左边", + "frame": 583, + "progress": 90, + "progress_explanation": "将灰色的布移至左边，进度90%。", + "state_description": "当前状态为爪夹将灰色的布夹至左边。\n为了完成将灰色的布移到左边的任务应当：向下移动，松开爪夹。", + "time": 19.418463095229562, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606609185_am0gbjayy", + "x": 0.08233330796305492, + "y": 0.008370361328125001, + "width": 0.33799997937011844, + "height": 0.6044444444444446 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将灰色的布移至左边", + "frame": 616, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为灰色的布落在做边。", + "time": 20.533333, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606612937_qwi5q2jk5", + "x": 0.13833330454508638, + "y": 0.44925925021701385, + "width": 0.25699998431396576, + "height": 0.31822222222222224 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767606536970", + "name": "灰色的布", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767606538795", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767606538954", + "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_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d8cf9cacb90c904ae46ccf5e323c8f811ef371 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json @@ -0,0 +1,325 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：75%\n将马克笔移至桌面上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "爪夹暂未移动。", + "state_description": "当前状态为爪夹暂未移动\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.14776610398338685, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607911645_wzp94cp84", + "x": 0.3463332918497747, + "y": 0.538740736219618, + "width": 0.05199999682617205, + "height": 0.06933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 34, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹向下，准备接近马克笔\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 1.1271474856568966, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607917276_w7fq4bci0", + "x": 0.33833329233805587, + "y": 0.5381481391059028, + "width": 0.06999999572753937, + "height": 0.05866666666666668 + } + ] + }, + "point_1767607888798": { + "type": "point", + "instances": [ + { + "id": "point_1767607888798_1767607919508_zvncmlbkd", + "x": 0.33833329233805587, + "y": 0.2750370279947917 + } + ] + }, + "point_1767607888941": { + "type": "point", + "instances": [ + { + "id": "point_1767607888941_1767607921237_e18p0rduk", + "x": 0.3793332898356146, + "y": 0.3621481391059028 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功接近马克笔。", + "frame": 64, + "progress": 20, + "progress_explanation": "爪夹接近马克笔，进度20%。", + "state_description": "当前状态为爪夹接近马克笔。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 2.1374567004358855, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607925421_j0nm03g1k", + "x": 0.3443332919718449, + "y": 0.5381481391059028, + "width": 0.08099999505615263, + "height": 0.06222222222222224 + } + ] + }, + "point_1767607888798": { + "type": "point", + "instances": [ + { + "id": "point_1767607888798_1767607927508_ursu5i0hy", + "x": 0.3393332922770207, + "y": 0.360370361328125 + } + ] + }, + "point_1767607888941": { + "type": "point", + "instances": [ + { + "id": "point_1767607888941_1767607929235_aei7ub06m", + "x": 0.3783332898966497, + "y": 0.45281480577256944 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹角度正确。", + "frame": 98, + "progress": 30, + "progress_explanation": "爪夹更加接近马克笔，进度30%", + "state_description": "当前状态为爪夹伸进杯子里。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 3.2817865253386174, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607935228_jsdxk5s0h", + "x": 0.3443332919718449, + "y": 0.5488148057725695, + "width": 0.07099999566650417, + "height": 0.048 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹角度正确，准备触碰马克笔。", + "frame": 154, + "progress": 40, + "progress_explanation": "爪夹准备触碰马克笔，进度40%。", + "state_description": "当前状态为爪夹准备触碰马克笔\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 5.127147233965546, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607938710_k17st6ngr", + "x": 0.3253332931315128, + "y": 0.5399259168836805, + "width": 0.07099999566650417, + "height": 0.06399999999999997 + } + ] + }, + "point_1767607888798": { + "type": "point", + "instances": [ + { + "id": "point_1767607888798_1767607940500_shwpk0z66", + "x": 0.3253332931315128, + "y": 0.5061481391059028 + } + ] + } + } + }, + { + "action_description": "稍微向下，合拢爪夹。", + "correction_plan": "向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹合拢正确，成功触碰爪夹。", + "frame": 189, + "progress": 50, + "progress_explanation": "爪夹触碰到马克笔，进度50%。", + "state_description": "当前状态为爪夹夹住马克笔。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "time": 6.292095614271932, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607945859_ivjdzddu8", + "x": 0.31233329392496983, + "y": 0.5594814724392361, + "width": 0.08299999493408232, + "height": 0.08000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向上移动正确，成功夹起马克笔。", + "frame": 219, + "progress": 75, + "progress_explanation": "爪夹将马克笔夹起，进度75%。", + "state_description": "当前状态为爪夹将马克笔夹至杯子上方。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "time": 7.312714106752748, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607948853_uxmv4kv7t", + "x": 0.2863332955118838, + "y": 0.41725925021701393, + "width": 0.11299999310302775, + "height": 0.096 + } + ] + }, + "point_1767607888941": { + "type": "point", + "instances": [ + { + "id": "point_1767607888941_1767607951052_6j30bh2an", + "x": 0.31833329355875895, + "y": 0.488370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向右移动正确，成功将马克笔夹至桌子上方", + "frame": 247, + "progress": 80, + "progress_explanation": "爪夹将马克笔夹至桌子上方，进度80%", + "state_description": "当前状态为爪夹将马克笔夹至桌子上方。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，松开爪夹，马克笔落在在桌面上。", + "time": 8.240549099917123, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607956531_ugoetao7q", + "x": 0.45233328538004847, + "y": 0.5470370279947917, + "width": 0.07899999517822298, + "height": 0.0764444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功将马克笔移到桌子上。", + "frame": 275, + "progress": 90, + "progress_explanation": "马克笔移至桌面上方，进度90%。", + "state_description": "当前状态为马克笔在桌子上。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：松开爪夹，马克笔落在在桌面上。", + "time": 9.168384093081501, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607959260_egwuk2i8p", + "x": 0.4403332861124703, + "y": 0.5849629584418403, + "width": 0.06499999603271504, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 149, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹落在桌面上。", + "time": 9.933333333333334, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607962629_bu1zykxyr", + "x": 0.4313332866617866, + "y": 0.561259250217014, + "width": 0.05699999652099637, + "height": 0.09777777777777774 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767607887901", + "name": "马克笔", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767607888798", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767607888941", + "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_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json new file mode 100644 index 0000000000000000000000000000000000000000..a608b950ae1d38dce2d7ccb505985a1e894f5f7e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json @@ -0,0 +1,363 @@ +{ + "task_description": "把杯子里的东西倒在桌子上\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子50%\n将杯子夹起：70%\n将杯子里的东西掉出：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子。", + "time": 0.7425426023790748, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669098099_bq9g1ojww", + "x": 0.37233329026286066, + "y": 0.6240740695529514 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向左侧移动正确，准备接近杯子。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹向下，准备接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子。", + "time": 1.5553260563910694, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669103843_4y77spbt4", + "x": 0.324333293192548, + "y": 0.4368148057725695, + "width": 0.0509999968872072, + "height": 0.10488888888888886 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669106266_hav92mez2", + "x": 0.39533328885905217, + "y": 0.4972592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，然后稍微向左。", + "correction_plan": "向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向下移动正确，成功接近杯子。", + "frame": 81, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹向下，接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 2.684191964741062, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669110109_txutucvft", + "x": 0.37433329014079036, + "y": 0.4670370279947917 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669112994_x64hqm2rc", + "x": 0.33033329282633705, + "y": 0.41725925021701393, + "width": 0.04799999707031266, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左移动，然后向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近杯子。", + "frame": 122, + "progress": 30, + "progress_explanation": "爪夹更加接近杯子，进度30%。", + "state_description": "当前状态为爪夹更加接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 4.0538826002057196, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669117361_tcj85igow", + "x": 0.3263332930704777, + "y": 0.45281480577256944, + "width": 0.04999999694824235, + "height": 0.08711111111111115 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669119512_m42ldczon", + "x": 0.36933329044596613, + "y": 0.47770369466145834 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，合拢爪夹。", + "correction_plan": "向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹合拢正确，成功夹住杯子。", + "frame": 147, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 4.896769145107048, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669126978_2zea95jkd", + "x": 0.33633329246012617, + "y": 0.4350370279947917, + "width": 0.041999997436523585, + "height": 0.11199999999999997 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669130017_2ig54q0dm", + "x": 0.3653332906901067, + "y": 0.47948147243923617 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将杯子夹起。", + "frame": 174, + "progress": 60, + "progress_explanation": "爪夹将杯子稍微夹起，进度60%。", + "state_description": "当前状态为爪夹将杯子夹至空中。\n为了完成把杯子里的东西倒在桌子上的任务应当：向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 5.7848103263423765, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669134113_1tpp9fug4", + "x": 0.3583332911173528, + "y": 0.41725925021701393 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669138769_eu3d6uy81", + "x": 0.33233329270426676, + "y": 0.39414813910590274, + "width": 0.052999996765136934, + "height": 0.12444444444444448 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向右移动。", + "correction_plan": "向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向上移动正确，成功将杯子夹至空中。", + "frame": 210, + "progress": 70, + "progress_explanation": "爪夹将杯子夹至空中，进度70%。", + "state_description": "当前状态为爪夹将杯子夹至空中。\n为了完成把杯子里的东西倒在桌子上的任务应当：向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 7.003985507360367, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669143161_y3mg65ls4", + "x": 0.383333289591474, + "y": 0.38881480577256944, + "width": 0.0759999953613284, + "height": 0.17244444444444448 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669145809_hfbdxwk1o", + "x": 0.41433328769938427, + "y": 0.42437036132812506 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动，向左旋转爪夹。", + "correction_plan": "向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向右移动正确，成功准备将杯子里的东西倒出。", + "frame": 271, + "progress": 80, + "progress_explanation": "准备将杯子里的东西倒出来。", + "state_description": "当前状态为爪夹准备将杯子里的东西倒出来。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 9.035944142390354, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669153080_w9k6wkmto", + "x": 0.5333332804362011, + "y": 0.4670370279947917 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669157328_4ujfe32mb", + "x": 0.5053332821451854, + "y": 0.4457036946614583, + "width": 0.07099999566650421, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向左旋转。", + "correction_plan": "右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹旋转角度正确，成功将东西倒出来。", + "frame": 316, + "progress": 90, + "progress_explanation": "将杯子里的东西倒出来，进度90%", + "state_description": "当前状态为爪夹向左旋转，东西掉出来。\n为了完成把杯子里的东西倒在桌子上的任务应当：向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 10.54109868685701, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669162112_8zxioz4x0", + "x": 0.5333332804362011, + "y": 0.39770369466145833, + "width": 0.08599999475097686, + "height": 0.16000000000000006 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669165194_w9xmtqluh", + "x": 0.5613332787272168, + "y": 0.40481480577256945 + } + ] + } + } + }, + { + "action_description": "向右旋转，向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹旋转正确，成功完成任务。", + "frame": 438, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹张开，杯子放在桌面。", + "time": 14.6, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669171801_17c0t2byb", + "x": 0.5003332824503611, + "y": 0.5434814724392362 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669175104_05noevvqc", + "x": 0.49233328293864237, + "y": 0.5328148057725695, + "width": 0.0769999953002932, + "height": 0.14933333333333332 + } + ] + }, + "point_1767669078694": { + "type": "point", + "instances": [ + { + "id": "point_1767669078694_1767669177224_8wt5dnszu", + "x": 0.5193332812906932, + "y": 0.48303702799479165 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767669074660", + "name": "杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767669078694", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767669078858", + "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_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json new file mode 100644 index 0000000000000000000000000000000000000000..00c5b2372747f7458e87fd9d2c8588e883356d3f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json @@ -0,0 +1,538 @@ +{ + "task_description": "从桌子上拿起绿色物体，把它放在碗里\n准备开始移动：0%\n接近绿色物体：20%\n触碰到绿色物体：50%\n将绿色物体夹起：70%\n将绿色物体夹至碗边：80%\n将绿色物体移至碗上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动在绿色物体上方，向下移动，合拢爪夹，向上移动，向左侧移动至碗上方，向下移动，松开爪夹，绿色物体落入碗中。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，绿色物体在桌子上。\n为了完成从桌子上拿起绿色物体，把它放在碗里的任务应当：向下移动在绿色物体上方，向下移动，合拢爪夹。", + "time": 0.021534805350467305, + "annotations": { + 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"向下移动在绿色物体上方，向下移动，合拢爪夹，向上移动，向左侧移动至碗上方，向下移动，松开爪夹，绿色物体落入碗中。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 32, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备接近绿色物体。\n为了完成从桌子上拿起绿色物体，把它放在碗里的任务应当：向下移动在绿色物体上方，向下移动，合拢爪夹。", + "time": 1.0616722522731976, + "annotations": { + "bbox_1767672125013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767672125013_1767672258466_bvug1a151", + "x": 0.5383332801310253, + "y": 0.36392591688368053, + "width": 0.05199999682617209, + "height": 0.07644444444444447 + } + ] + }, + "bbox_1767672125189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767672125189_1767672263104_e9ry1pszm", + "x": 0.28133329581705957, + "y": 0.024370361328125, + "width": 0.20299998760986404, + "height": 0.3448888888888889 + } + ] + }, + "point_1767672126180": { + "type": "point", + "instances": [ + { + "id": "point_1767672126180_1767672264913_o5nqq5ir1", + "x": 0.44433328586832965, + "y": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004044.json new file mode 100644 index 0000000000000000000000000000000000000000..7a70447492e7fb1070adeb8934f7d4f5a4488d60 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004044.json @@ -0,0 +1,265 @@ +{ + "task_description": "向下移动绿色的碗\n准备开始移动：0%\n接近绿色的碗：20%\n触碰到绿色的碗：50%\n将绿色的碗夹起：70%\n将绿色的碗移至下侧：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至碗的上方，向下移动合拢爪夹，夹住碗，向上移动，向后移动至指定位置，向下移动，将碗放在桌子上，松开爪夹。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成向下移动绿色的碗的任务应当：向前移动至碗的上方，向下移动合拢爪夹，夹住碗。", + "time": 0.5310421568192532, + "annotations": { + "bbox_1768184750155": { + "type": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004970.json @@ -0,0 +1,367 @@ +{ + "task_description": "把黑锅的盖子拿开\n准备开始移动：0%\n接近盖子：20%\n触碰到盖子：50%\n夹起盖子：70%\n将盖子移至桌面上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至盖子上方，向下移动，合拢爪夹，夹住盖子，向上移动，向左移动至桌子上方，向下移动，松开爪夹", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成把黑锅的盖子拿开的任务应当：向前移动至盖子上方，向下移动，合拢爪夹，夹住盖子。", + "time": 0.49163780851026345, + "annotations": { + "point_1768190349924": { + "type": "point", + "instances": [ + { + "id": "point_1768190349924_1768190426499_ivb8teyq7", + "x": 0.7303332684122761, + "y": 0.7337036946614585 + } + ] + }, + "point_1768190349791": { + "type": "point", + "instances": [ + { + "id": "point_1768190349791_1768190430523_wigtb4aq5", + "x": 0.7563332668253621, + 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"向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 80, + "progress": 10, + "progress_explanation": "爪夹准备接近黑锅，进度10%", + "state_description": "当前状态为爪夹张开，准备接近黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 2.660938742919309, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201727908_6ry3y1k6m", + "x": 0.363333290812177, + "y": 0.28214813910590275, + "width": 0.10899999334716833, + "height": 0.17066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向左前侧移动并且向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑锅", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹接近黑锅，进度20%", + "state_description": "当前状态为爪夹接近黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 4.083619034843521, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": 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"action_description": "爪夹向上移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向上移动错误，导致爪夹远离黑锅", + "frame": 201, + "progress": 15, + "progress_explanation": "爪夹稍微远离黑锅，进度15%", + "state_description": "当前状态为爪夹稍微远离黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 6.7076737955037355, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201746220_xpp1739lq", + "x": 0.37033329038493096, + "y": 0.28570369466145834, + "width": 0.1019999937744144, + "height": 0.1368888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹应向左侧寻找黑锅", + "frame": 244, + "progress": 25, + "progress_explanation": "爪夹在黑锅右侧，进度25%", + "state_description": "当前状态为爪夹在黑锅右侧\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 8.130354087427948, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + 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"progress_explanation": "爪夹准备触碰黑锅，进度40%", + "state_description": "当前状态我为爪夹准备触碰黑锅\n为了完成把黑锅移到右边的任务应当：向下移动，触碰到黑锅。", + "time": 10.722793730489846, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201757972_air0qqo3z", + "x": 0.3623332908732122, + "y": 0.2874814724392361, + "width": 0.11599999291992233, + "height": 0.14933333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向下移动，成功触碰到黑锅", + "frame": 346, + "progress": 50, + "progress_explanation": "爪夹触碰到黑锅，进度50%", + "state_description": "当前状态为爪夹触碰到黑锅\n为了完成把黑锅移到右边的任务应当：将黑锅拉向右侧，向上移动。", + "time": 11.544786788046059, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201761924_t0e1ek0d4", + "x": 0.3843332895304389, + "y": 0.2697036946614583, + "width": 0.0899999945068363, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向右移动正确，成功将黑锅移动", + "frame": 379, + "progress": 70, + "progress_explanation": "爪夹开始向右侧移动黑锅，进度70%", + "state_description": "当前状态为爪夹开始向右侧移动黑锅\n为了完成把黑锅移到右边的任务应当：将黑锅拉向右侧，向上移动。", + "time": 12.619700786388796, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201765797_dxwi85yxz", + "x": 0.4413332860514352, + "y": 0.2999259168836806, + "width": 0.1319999919433598, + "height": 0.16533333333333336 + } + ] + } + } + }, + { + "action_description": "向右侧移动", + "correction_plan": "爪夹向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功将黑锅移动至右侧", + "frame": 406, + "progress": 90, + "progress_explanation": "爪夹将黑锅移动至右侧，进度90%", + "state_description": "当前状态为爪夹将黑锅移动至右侧\n为了完成把黑锅移到右边的任务应当：爪夹向上移动。", + "time": 13.536539196739957, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004405.json @@ -0,0 +1,285 @@ +{ + "task_description": "将板块向前移动\n准备开始移动：0%\n接近板块：20%\n触碰到板块：50%\n移动板块：70%\n将板块移至前边：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左前侧移动至板块上方，向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "", + "frame": 8, + "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为了完成将板块向前移动的任务应当：向左前侧移动至板块上方，向下移动，压住板块。", + "time": 0.26639152187754694, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204264362_4y4go7kum", + "x": 0.33033329282633705, + "y": 0.6092592502170139, + "width": 0.12499999237060595, + "height": 0.08355555555555551 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动", + "correction_plan": "向左前侧移动至板块上方，向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向左前侧移动正确，成功准备接近板块。", + "frame": 41, + "progress": 10, + "progress_explanation": "准备接近板块，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近板块\n为了完成将板块向前移动的任务应当：向左前侧移动至板块上方，向下移动，压住板块。", + "time": 1.3705151637431563, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204261266_dwu1ucn8n", + "x": 0.3393332922770207, + "y": 0.6128148057725695, + "width": 0.12199999255371141, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向下移动正确，成功接近板块", + "frame": 66, + "progress": 20, + "progress_explanation": "爪夹接近板块，进度20%", + "state_description": "当前状态为爪夹接近板块\n为了完成将板块向前移动的任务应当：向下移动，压住板块。", + "time": 2.201236760956329, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": 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+ "action_description": "爪夹向前移动", + "correction_plan": "继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向前移动正确，成功开始移动板块", + "frame": 184, + "progress": 70, + "progress_explanation": "爪夹开始移动板块，进度70%", + "state_description": "当前状态为爪夹开始移动板块\n为了完成将板块向前移动的任务应当：继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "time": 6.13402001864907, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204244180_o83ob7393", + "x": 0.3413332921549504, + "y": 0.6128148057725695, + "width": 0.11999999267578172, + "height": 0.0764444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向前移动正确，成功向指定位置移动", + "frame": 215, + "progress": 80, + "progress_explanation": "爪夹将板块向指定位置移动，进度80%", + "state_description": "当前状态为爪夹将板块向指定位置移动\n为了完成将板块向前移动的任务应当：继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "time": 7.150199, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + 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at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004256.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004256.json new file mode 100644 index 0000000000000000000000000000000000000000..9e976465bf0b13839d27a26695b7b7a5c157f923 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004256.json @@ -0,0 +1,570 @@ +{ + "task_description": "把一个土豆从塑料里拿出来，放在玻璃碗里\n准备开始移动：0%\n接近土豆：20%\n夹住到土豆：50%\n夹起土豆：70%\n将土豆移至玻璃碗上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左后侧移动至土豆上方，向下移动，合拢爪夹，夹住土豆，向上移动。向右侧移动至玻璃碗上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹向下，暂未移动\n为了完成将土豆从塑料里拿出来，放在玻璃碗里的任务应当：向左后侧移动至土豆上方，向下移动，合拢爪夹，夹住土豆。", + "time": 0.9616259909732784, + "annotations": { + "point_1768208157566": { + "type": "point", + "instances": [ + { + "id": "point_1768208157566_1768208185757_z1szk742z", + "x": 0.45133328544108364, + "y": 0.5547407362196181 + } + ] + }, + "point_1768208157739": { + "type": "point", + "instances": [ + { + "id": "point_1768208157739_1768208187683_in0xqcayp", + "x": 0.7713332659098348, + "y": 0.5968148057725694 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动", + "correction_plan": "向左后侧移动至土豆上方，向下移动，合拢爪夹，夹住土豆，向上移动。向右侧移动至玻璃碗上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 112, + "progress": 5, + "progress_explanation": "爪夹开始移动，进度5%", + "state_description": "当前状态为爪夹开始移动\n为了完成将土豆从塑料里拿出来，放在玻璃碗里的任务应当：向左后侧移动至土豆上方，向下移动，合拢爪夹，夹住土豆。", + "time": 3.721075951361464, + "annotations": { + "point_1768208157739": { + "type": "point", + "instances": [ + { + "id": 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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_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004283.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004283.json new file mode 100644 index 0000000000000000000000000000000000000000..8804ffdd1f5f95c4b8e1ec80f90d946b0594a45d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004283.json @@ -0,0 +1,638 @@ +{ + "task_description": "把纸巾从盒子里拿出来，用桌子上的毛巾包起来\n准备开始移动：0%\n接近纸巾：20%\n夹住到纸巾：30%\n夹起纸巾：40%\n将纸巾放在毛巾上：60%\n开始夹毛巾70%\n将纸巾包住：90\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向后侧移动至纸巾上方，向下移动，合拢爪夹，夹住纸巾，向上移动，向前移动至毛巾上方，向下移动，松开爪夹，向左侧移动，向下移动，夹住毛巾，向上移动，向右移动，将纸巾包住，松开爪夹。", + "error_success_analysis": "", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004865.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004865.json new file mode 100644 index 0000000000000000000000000000000000000000..a76fa552b05fbe7918ca7f65556b555c7c316705 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.wrist_image_left/episode_004865.json @@ -0,0 +1,361 @@ +{ + "task_description": "把那瓶油从橱柜底部的架子上拿下来，放在微波炉前面\n准备开始移动：0%\n接近油：20%\n触碰到油：50%\n移动油向微波炉：70%\n将油移至微波炉前：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向后侧移动，移动至油旁边，合拢爪夹，夹住油，向上移动。向前移动，向下移动至微波炉前，松开抓夹。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": 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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_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005027.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005027.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba84cadc4f7ea2ae6b396a9ccc3daecad84e692 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005027.json @@ -0,0 +1,425 @@ +{ + "task_description": "关上烤箱门\n准备开始移动：0%\n接烤箱门：20%\n触碰到烤箱门：50%\n开始向上关烤箱门：70%\n关闭烤箱门：90%\n爪夹离开烤箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "爪夹向左侧移动至烤箱门上侧，向下移动，爪夹勾住烤箱门，向上移动，同时稍微向左侧移动，关上烤箱门，爪夹离开烤箱。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + 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"把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：70%\n将马克笔移至桌面上方：90%\n将马克笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向右移动，向下移动，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "", + "frame": 21, + "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为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.6945241962514852, + "annotations": { + "point_1768274540677": { + "type": "point", + "instances": [ + { + "id": "point_1768274540677_1768274638524_pqzeokee6", + "x": 0.5003332824503611, + "y": 0.14703702799479168 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向右移动，向下移动，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功准备接近马克笔", + "frame": 100, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005183.json @@ -0,0 +1,385 @@ +{ + "task_description": "把锅盖打开\n准备开始移动：0%\n接近锅盖：20%\n夹住锅盖：50%\n将锅盖夹起：70%\n将锅盖移至桌面上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至锅盖上方，向下移动，合拢爪夹，夹住锅盖，向上移动，向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 31, + "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为了完成把锅盖打开的任务应当：向前移动至锅盖上方，向下移动，合拢爪夹，夹住锅盖。", + "time": 1.0240547086386322, + "annotations": { + "point_1768276051544": { + "type": "point", + "instances": [ + { + "id": "point_1768276051544_1768276153501_cw6th6fdo", + "x": 0.20233330063883664, + "y": 0.27681480577256945 + } + ] + }, + "point_1768276051384": { + "type": "point", + "instances": [ + { + "id": "point_1768276051384_1768276155717_fk8otjos0", + "x": 0.17833330210368029, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005313.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005313.json new file mode 100644 index 0000000000000000000000000000000000000000..95fe79fe00c84fe0995f88636c6400ef43641db9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005313.json @@ -0,0 +1,395 @@ +{ + "task_description": "关上微波炉门\n准备开始移动：0%\n接近微波炉门：20%\n触碰到微波炉门：50%\n开始关微波炉门：70%\n关闭微波炉门：90%\n微波炉门完全闭合：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动至微波炉门前，向前移动，接触碰到微波炉门，继续向前移动，同时稍微向右移动，关上微波炉门。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + 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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_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json new file mode 100644 index 0000000000000000000000000000000000000000..4220d2697ba452c4f17fd26d6e9a3b09cc10518b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json @@ -0,0 +1,549 @@ +{ + "task_description": "用蓝色毛巾擦白板\n准备开始移动：0%\n接近毛巾：20%\n夹住毛巾：60%\n开始擦白板：70%\n将毛巾放回：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至蓝色毛巾上方，向下移动，合拢爪夹，夹住毛巾，向左侧移动至白板上，开始擦拭，擦拭完成后将毛巾放回原位，松开爪夹。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + 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"error_success_analysis": "爪夹向前移动正确，成功接近杯子", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%", + "state_description": "当前状态我爪夹在杯子上方接近杯子\n为了完成将杯子扶起的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 4.226614571977145, + "annotations": { + "bbox_1768446492425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768446492425_1768446568480_0asusx6kc", + "x": 0.6890460212893441, + "y": 0.5536067520739496, + "width": 0.06383087120723996, + "height": 0.1600323218689854 + } + ] + }, + "point_1768446493568": { + "type": "point", + "instances": [ + { + "id": "point_1768446493568_1768446582679_4oo59bjwt", + "x": 0.6792258872574611, + "y": 0.41685185884045295 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住杯子，向上移动，将杯子扶正，向下移动，将杯子放在桌子上。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近杯子", + "frame": 173, + "progress": 30, + "progress_explanation": "爪夹更加接近杯子，进度30%", + "state_description": "当前状态为爪夹更加接近杯子\n为了完成将杯子扶起的任务应当：向下移动，合拢爪夹，夹住杯子。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005155.json @@ -0,0 +1,333 @@ +{ + "task_description": "把马克笔放到桌面上。\n开始准备移动：0%\n向爪夹正下方移动：25%\n爪夹合拢：50%\n爪夹向左前方移动：75%\n张开爪夹：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正下方移动，靠近马克笔，接着爪夹抓取马克笔，爪夹向左上方移动，靠近桌面，松开爪夹放置马克笔到桌面上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始阶段，远离马克笔，未开始移动，进度为：0%。", + "state_description": "当前为初始状态，爪夹张开，远离马克笔，未开始移动。\n为完成抓取马克笔放置到桌面上的任务应当：爪夹向爪夹下方移动，靠近马克笔，同时调整爪夹的角度并垂直于桌面。", + "time": 0.5901485877945677, + "annotations": { + "bbox_1768807338078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807338078_1768807389308_wy3c1tcd9", + "x": 0.399666601582849, + "y": 0.3171111111111111, + "width": 0.08299999493408236, + "height": 0.1671111111111111 + } + ] + }, + "point_1768807357591": { + "type": "point", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005247.json new file mode 100644 index 0000000000000000000000000000000000000000..e20d3c33bc6acdcfb8c59237afff3d3de6ebe2c5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005247.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取橘色积木放到左侧的桌面上。\n准备开始移动：0%\n爪夹靠近橘色积木：25%\n爪夹抓取橘色积木：50%\n爪夹抓紧橘色积木向左侧移动75%\n松开爪夹橘色积木落到桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右侧移动到橘色积木的正上方，调整爪夹角度正对桌面，爪夹向爪夹下方移动，靠近橘色积木，爪夹合拢抓取橘色积木，爪夹向左侧移动，松开爪夹放置橘色积木到桌面上。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，远离橘色积木，进度为0%。", + "state_description": "为初始状态，爪夹张开，远离橘色积木。\n为完成抓取橘色积木并防止到左侧桌面的任务应当：爪夹向爪夹下方移动，靠近桌面，同时向右侧移动靠近橘色积木，调整爪夹到橘色积木正上方。", + "time": 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} + ], + "point_targets": [ + { + "id": "point_1768807547529", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768807548192", + "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_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005391.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005391.json new file mode 100644 index 0000000000000000000000000000000000000000..9059539be7a5bfa54592e17d1e40c0c15fab34df --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005391.json @@ -0,0 +1,509 @@ +{ + "task_description": "把马克笔从杯子中取出然后放到桌面上\n准备开始移动：0%\n爪夹接近马克笔：25%\n爪夹夹紧马克笔：50%\n移动马克笔：75%\n松开爪夹放置马克笔到桌面上：100%", + "progress_points": [ + { + 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mode 100644 index 0000000000000000000000000000000000000000..785bd77fa066c184213dbde8a23e2482ce09317c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.wrist_image_left/episode_005401.json @@ -0,0 +1,377 @@ +{ + "task_description": "把盐罐从锅中取出并放置到桌面上。\n准备开始移动：0%\n爪夹向右后方移动：20%\n爪夹接近盐罐：35%\n爪夹夹紧盐罐：50%\n爪夹向左前方移动：75%\n松开爪夹放置盐罐到桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹未开始移动。", + "correction_plan": "爪夹向左后方移动，调整与桌面的垂直角度，并移动到盐罐的正上方，落下接近盐罐，接近后抓取盐罐，抓紧盐罐升高爪夹并向右前方的桌面移动，松开爪夹，使盐罐落到桌面上。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离盐罐，未开始移动。进度 0%。", + "state_description": "爪夹为初始状态，爪夹张开，远离盐罐，未开始移动。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：爪夹向左后方移动，调整爪夹与桌面的垂直角度，与桌面垂直，并移动到盐罐的正上方。", + "time": 1.3333333333333333, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768807956693_xb4w46t8m", + 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"爪夹张开，爪夹向爪夹正下方移动，水平上接近盐罐。\n为完成抓取盐罐放置到桌面上的任务应当：爪夹向爪夹正下方移动，同时调整爪夹的角度使其垂直与桌面。", + "time": 3.8, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768807997748_n3ene4stk", + "x": 0.6166665883382209, + "y": 0.2833333197699653, + "width": 0.16599998986816472, + "height": 0.27911111111111114 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808000165_v4rykd4s3", + "x": 0.4466665987141968, + "y": 0.6602222086588542 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808002350_etk34nuyz", + "x": 0.7566665797932994, + "y": 0.6353333197699652 + } + ] + } + } + }, + { + "action_description": "爪夹向右方移动调整爪夹位置，接近盐罐。", + "correction_plan": "合拢爪夹，抓紧盐罐，提升爪夹高低并向右前方移动，爪夹接近桌面位置，松开爪夹放置盐罐到桌面上。", + "error_success_analysis": "爪夹向右方移动，调整爪夹位置，接近盐罐，方便抓取。", + "frame": 153, + "progress": 35, + "progress_explanation": "爪夹接近盐罐，方便抓取盐罐，因此进度提升到35%。", + "state_description": "爪夹垂直地面，爪夹接近盐罐，准备抓取盐罐。\n为完成抓取盐罐放置到桌面上的任务应当：合拢爪夹，抓取盐罐，向爪夹右前方移动，放置盐罐到桌面上。", + "time": 5.087719606073463, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768808016972_b5f2k7ip8", + "x": 0.5356665932820682, + "y": 0.4539999864366319, + "width": 0.14099999139404346, + "height": 0.32533333333333336 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808019756_f90nruubn", + "x": 0.4476665986531617, + "y": 0.6673333197699652 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808021419_0zdm553jf", + "x": 0.7566665797932994, + "y": 0.6317777642144097 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "提升爪夹高低并向右前方移动，爪夹接近桌面位置，松开爪夹放置盐罐到桌面上。", + "error_success_analysis": "爪夹垂直桌面，方便抓取盐罐。", + "frame": 94, + "progress": 50, + "progress_explanation": "爪夹夹紧盐罐，方便移动，因此进度提升到50%。", + "state_description": "爪夹合拢抓取盐罐头部位置，爪夹垂直于桌面位置。\n为完成抓取盐罐放置到桌面上的任务应当：抓紧盐罐，爪夹向爪夹上方移动，把盐罐从锅中取出，爪夹向爪夹右前方移动，把盐罐放置到桌面上。", + "time": 6.266666666666667, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768808026396_zvb82ax0b", + "x": 0.5116665947469119, + "y": 0.38288887532552085, + "width": 0.14499999114990283, + "height": 0.31822222222222224 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808028260_wh7y3vay7", + "x": 0.5296665936482792, + "y": 0.6015555419921875 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808030427_6mwb1nl13", + "x": 0.6376665870564826, + "y": 0.6051110975477431 + } + ] + } + } + }, + { + "action_description": "爪夹抓紧盐罐，爪夹向爪夹正上方移动。", + "correction_plan": "爪夹向右前方移动到桌面上方，松开爪夹，把盐罐放到桌面上。", + "error_success_analysis": "爪夹抓出了盐罐，方便将盐罐放到桌面上。", + "frame": 207, + "progress": 60, + "progress_explanation": "爪夹夹紧盐罐，爪夹向上移动抓起盐罐，因此进度提升到60%。", + "state_description": "爪夹抓紧盐罐，提升爪夹高低，位于桌面的正上方。\n为完成抓取盐罐放置到桌面上的任务应当：爪夹往爪夹右前方移动到桌面上方，松开爪夹放置盐罐到桌面上。", + "time": 6.896104308779606, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768808038643_gfauvbjl0", + "x": 0.5026665952962283, + "y": 0.3882222086588542, + "width": 0.14599999108886771, + "height": 0.33066666666666666 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808040971_lr7jl9hr1", + "x": 0.5276665937703495, + "y": 0.5944444308810763 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808042876_54umrdg8p", + "x": 0.6376665870564826, + "y": 0.5908888753255208 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，垂直向下移动。", + "correction_plan": "松开爪夹，使盐罐落到桌面上。", + "error_success_analysis": "爪夹移动到桌面上方，方便放置盐罐。", + "frame": 245, + "progress": 75, + "progress_explanation": "爪夹夹紧盐罐，移动到桌面上放，因此进度提升到75%。", + "state_description": "爪夹夹紧盐罐，向爪夹右前方移动，爪夹垂直于桌面。\n为完成抓取盐罐放置到桌面上的任务应当：松开爪夹，把盐罐放置到桌面上。", + "time": 8.154111058488226, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768808061276_z7cbtxlgf", + "x": 0.4996665954793337, + "y": 0.389999986436632, + "width": 0.15699999041748108, + "height": 0.31466666666666665 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808063091_j5jnrryrg", + "x": 0.5236665940144901, + "y": 0.5908888753255208 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808065251_50qjupmzu", + "x": 0.635666587178553, + "y": 0.5837777642144097 + } + ] + } + } + }, + { + "action_description": "张开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开，盐罐落到桌面上。", + "frame": 142, + "progress": 100, + "progress_explanation": "爪夹张开，盐罐落到桌面上，因此进度提升到100%\n", + "state_description": "爪夹张开，爪夹垂直于桌面。\n爪夹张开盐罐落到桌面上的任务目标完成。", + "time": 9.466666666666667, + "annotations": { + "bbox_1768807927798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768807927798_1768808076058_aaer7rltg", + "x": 0.5416665929158573, + "y": 0.469999986436632, + "width": 0.08799999462890655, + "height": 0.19911111111111104 + } + ] + }, + "point_1768807935214": { + "type": "point", + "instances": [ + { + "id": "point_1768807935214_1768808077803_zs835fkxu", + "x": 0.44466659883626714, + "y": 0.6531110975477431 + } + ] + }, + "point_1768807935382": { + "type": "point", + "instances": [ + { + "id": "point_1768807935382_1768808079547_bzeerly1s", + "x": 0.7546665799153698, + "y": 0.6335555419921876 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768807927798", + "name": "盐罐", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768807935214", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768807935382", + "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_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json new file mode 100644 index 0000000000000000000000000000000000000000..ca03dfa93dee73576c1db4f28301d8dc41f09a23 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json @@ -0,0 +1,616 @@ +{ + "task_description": "从平台上移除绳索。\n爪夹开始移动:0%\n爪夹靠近绳索:30%\n爪夹夹起绳索中间:40%\n爪夹移动绳索:60%\n爪夹将绳索后半段放在桌子上:80%\n爪夹夹取绳索右端移动：90%\n爪夹松开，绳索放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹向上移动，然后向爪夹方向的前方移动，下降靠近绳索，爪夹合拢抓取绳索向爪夹方向的后方移动，将绳索放在桌子上，然后抬起爪夹向爪夹方向前方移动靠近绳索右端，夹取后向后移动放在桌子上，松开爪夹。", + "error_success_analysis": "", + "frame": 88, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成从平台上移除绳索的任务应当:首先调整爪夹向上移动。", + "time": 2.9310874242983207, + "annotations": { + "bbox_1768204339047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204339047_1768204371373_3kt0eejo8", + "x": 0.3581110621270104, + "y": 0.28629629177517363, + "width": 0.45199997241211093, + "height": 0.3022222222222222 + } + ] + }, + "bbox_1768204348273": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204348273_1768204378997_kqc49xmc5", + "x": 0.34111106316460793, + "y": 0.2732592502170139, + "width": 0.5079999689941425, + "height": 0.3662222222222222 + } + ] + }, + "point_1768204354806": { + "type": "point", + "instances": [ + { + "id": "point_1768204354806_1768204381934_54hztp5bf", + "x": 0.14711107500542756, + "y": 0.09192591688368056 + } + ] + }, + "point_1768204360030": { + "type": "point", + "instances": [ + { + "id": "point_1768204360030_1768204384495_zlujrt21z", + "x": 0.20711107134331835, + "y": 0.08837036132812501 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬起。", + "correction_plan": "向爪夹方向的前方移动，下降靠近绳索，爪夹合拢抓取绳索向爪夹方向的后方移动，将绳索放在桌子上，然后抬起爪夹向爪夹方向前方移动靠近绳索右端，夹取后向后移动放在桌子上，松开爪夹。", + "error_success_analysis": "爪夹向上抬起，方便爪夹向前移动靠近绳索。", + "frame": 71, + "progress": 10, + "progress_explanation": "目前爪夹向上抬起，方便爪夹向前移动靠近绳索，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成从平台上移除绳索的任务应当:爪夹向爪夹方向前方移动。", + "time": 4.733333333333333, + "annotations": { + "bbox_1768204339047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204339047_1768204391326_3ga40l3ns", + "x": 0.3541110623711509, + "y": 0.280370361328125, + "width": 0.4529999723510759, + "height": 0.2915555555555556 + } + ] + }, + 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0.38111106072320183, + "y": 0.39592591688368056, + "width": 0.3309999797973645, + "height": 0.28444444444444444 + } + ] + }, + "bbox_1768204348273": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204348273_1768204569811_rciskoph4", + "x": 0.36611106163872914, + "y": 0.312370361328125, + "width": 0.4809999706420915, + "height": 0.3377777777777778 + } + ] + }, + "point_1768204354806": { + "type": "point", + "instances": [ + { + "id": "point_1768204354806_1768204572874_kfqx5lg7f", + "x": 0.629111045586484, + "y": 0.360370361328125 + } + ] + }, + "point_1768204360030": { + "type": "point", + "instances": [ + { + "id": "point_1768204360030_1768204575691_ri4llzt3a", + "x": 0.5341110513848235, + "y": 0.3799259168836806 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768204339047", + "name": "绳索", + "color": "#4CAF50" + }, + { + "id": "bbox_1768204348273", + "name": "平台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768204354806", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768204360030", + "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_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json new file mode 100644 index 0000000000000000000000000000000000000000..d71a78b31a214a5243c012f04a7a55c008d4f5a8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json @@ -0,0 +1,322 @@ +{ + "task_description": "把笔从杯子里拿出来，放在桌子上。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹夹起笔:40%\n爪夹移动笔:60%\n爪夹将笔放在桌子上:80%\n爪夹松开，笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向爪夹方向的前方移动靠近笔，微微调整爪夹后抓取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:调整爪夹角度向爪夹方向的前方移动靠近笔。", + "time": 0.5670100219091029, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594295120_aqmvxjrpd", + "x": 0.5021110533379484, + "y": 0.5974074028862848, + "width": 0.030999998107910275, + "height": 0.09777777777777774 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594301809_9ljfimbo5", + "x": 0.41211105883111215, + "y": 0.4314814724392362, + "width": 0.3309999797973645, + "height": 0.3644444444444444 + } + ] + }, + "point_1767594271945": { + "type": "point", + "instances": [ + { + "id": "point_1767594271945_1767594315687_pt6kk8kcd", + "x": 0.7041110410088475, + "y": 0.817259250217014 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹持续向爪夹方向的前方移动靠近笔，微微调整爪夹后抓取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹调整角度后，向爪夹方向前方移动靠近笔，方便爪夹夹取。", + "frame": 65, + "progress": 10, + "progress_explanation": "目前爪夹调整角度后，向爪夹方向前方移动靠近笔，方便爪夹夹取，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹持续向爪夹方向的前方移动靠近笔。", + "time": 2.18144291001512, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594325415_uqb1co8fg", + "x": 0.5041110532158781, + "y": 0.6199259168836805, + "width": 0.027999998291015692, + "height": 0.09422222222222226 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594346870_j56y5xzet", + "x": 0.3741110611504479, + "y": 0.4279259168836806, + "width": 0.3289999799194348, + "height": 0.3982222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹持续向爪夹方向的前方移动。", + "correction_plan": "微微调整爪夹，爪夹夹取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹持续向爪夹方向前方移动靠近笔，微微调整后方便爪夹夹取。", + "frame": 54, + "progress": 15, + "progress_explanation": "目前爪夹持续向爪夹方向前方移动靠近笔，微微调整后方便爪夹夹取，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:调整爪夹，使其处在笔的上方位置，方便爪夹夹取笔。", + "time": 3.6, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594342128_k96so910o", + "x": 0.3921110600518151, + "y": 0.440370361328125, + "width": 0.31399998083496217, + "height": 0.3875555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向下调整角度贴近笔。", + "correction_plan": "爪夹夹取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹处在笔的上方位置，方便爪夹夹取。", + "frame": 144, + "progress": 20, + "progress_explanation": "目前爪夹处在笔的上方位置，方便爪夹夹取，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹贴着笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹合拢夹取笔抬升至空中。", + "time": 4.816494290601952, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594353551_2q6rj6mqc", + "x": 0.3961110598076746, + "y": 0.4065925835503472, + "width": 0.33399997961425903, + "height": 0.4799999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取笔抬升至空中。", + "correction_plan": "向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹成夹取笔微微抬升至空中，并开始向爪夹右后方移动。", + "frame": 89, + "progress": 40, + "progress_explanation": "目前爪夹成功夹取笔微微抬升至空中，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹夹取笔向爪夹右后方移动。", + "time": 5.933333333333334, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594358143_1wb15v1j1", + "x": 0.3941110599297449, + "y": 0.42259258355034723, + "width": 0.33299997967529416, + "height": 0.3804444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹夹取笔向爪夹右后方移动。", + "correction_plan": "爪夹夹取笔完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹夹取笔向爪夹方向右侧移动。", + "frame": 101, + "progress": 60, + "progress_explanation": "目前爪夹夹取笔向爪夹方向右侧移动，所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹夹取笔下降放在桌子上。", + "time": 6.733333333333333, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594367127_xr03l8q9x", + "x": 0.5681110493096283, + "y": 0.5488148057725695, + "width": 0.055999996582031385, + "height": 0.07466666666666666 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594370199_xgm110qzd", + "x": 0.3971110597466394, + "y": 0.40481480577256945, + "width": 0.33899997930908327, + "height": 0.42133333333333334 + } + ] + }, + "point_1767594271945": { + "type": "point", + "instances": [ + { + "id": "point_1767594271945_1767594372318_mbqzd6b0y", + "x": 0.6131110465630465, + "y": 0.552370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹夹取笔下降放在桌子上。", + "correction_plan": "爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹夹取笔下降放在桌子上。", + "frame": 120, + "progress": 80, + "progress_explanation": "目前爪夹夹取笔下降放在桌子上，所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹松开，笔被放在桌子上。", + "time": 8, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594380374_u3bpnofj1", + "x": 0.557111049981015, + "y": 0.6359259168836806, + "width": 0.055999996582031475, + "height": 0.056888888888888864 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594384094_mvgb8wi7g", + "x": 0.3771110609673424, + "y": 0.44925925021701385, + "width": 0.32499998016357534, + "height": 0.3822222222222223 + } + ] + }, + "point_1767594271945": { + "type": "point", + "instances": [ + { + "id": "point_1767594271945_1767594386358_o1nb8tel1", + "x": 0.5951110476616791, + "y": 0.6697036946614583 + } + ] + } + } + }, + { + "action_description": "爪夹松开，抬升至空中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，笔成功放在桌子上。", + "frame": 134, + "progress": 100, + "progress_explanation": "目前爪夹松开，笔成功放在桌子上，所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，笔被放在桌子上。\n已完成把笔从杯子里拿出来，放在桌子上的任务。", + "time": 8.933333333333334, + "annotations": { + "point_1767594271945": { + "type": "point", + "instances": [ + { + "id": "point_1767594271945_1767594401374_m56hkvlbf", + "x": 0.6011110472954683, + "y": 0.6629876437717014 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594404670_7opwhmlkw", + "x": 0.3701110613945885, + "y": 0.4937036946614583, + "width": 0.3299999798583996, + "height": 0.4195555555555556 + } + ] + }, + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594408126_mu1eel551", + "x": 0.5521110502861907, + "y": 0.6377036946614584, + "width": 0.06599999597167994, + "height": 0.09600000000000009 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767594248033", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767594256465", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767594271945", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767594281640", + "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_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006629.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006629.json new file mode 100644 index 0000000000000000000000000000000000000000..72632b55fb8f9e7402a72a2b7a0f57ff11f24c52 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006629.json @@ -0,0 +1,317 @@ +{ + "task_description": "将第三根杆子向右移动。\n爪夹开始移动:0%\n爪夹靠近第三根杆子:30%\n爪夹夹起第三根杆子:50%\n爪夹推动第三根杆子:70%\n爪夹松开，第三根杆子成功向右移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向下移动靠近第三根杆子，爪夹合拢夹取第三根杆子后，向爪夹方向的右侧推动，然后爪夹松开远离第三根杆子。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将第三根杆子向右移动的任务应当:调整爪夹角度向下移动靠近第三根杆子。", + "time": 0.6331268730162396, + "annotations": { + "bbox_1767596160898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596160898_1767596191776_3i8ju1gz0", + "x": 0.48311105449761627, + "y": 0.4871851806640625, + "width": 0.21999998657226633, + "height": 0.11022222222222224 + } + ] + }, + "point_1767596170882": { + "type": "point", + "instances": [ + { + "id": "point_1767596170882_1767596194178_3zkpzyk3x", + "x": 0.44211105700005754, + "y": 0.36392591688368053 + } + ] + }, + "point_1767596176820": { + "type": "point", + "instances": [ + { + "id": "point_1767596176820_1767596196657_caqgf90gp", + "x": 0.46011105590142476, + "y": 0.3568148057725694 + } + ] + } + } + }, + { + "action_description": "爪夹微微调整角度向下移动。", + "correction_plan": "调整爪夹角度向下移动靠近第三根杆子，爪夹合拢夹取第三根杆子后，向爪夹方向的右侧推动，然后爪夹松开远离第三根杆子。", + "error_success_analysis": "爪夹处于张开状态，微微调整爪夹向下移动，方便靠近第三根杆子。", + "frame": 22, + "progress": 10, + "progress_explanation": "目前爪夹处于张开状态，微微调整爪夹向下移动，方便靠近第三根杆子，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，向下移动。\n为完成将第三根杆子向右移动的任务应当:调整爪夹角度向下移动靠近第三根杆子。", + "time": 1.4666666666666666, + "annotations": { + "bbox_1767596160898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596160898_1767596226056_3pr76edfc", + 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"correction_plan": "爪夹松开远离第三根杆子。", + "error_success_analysis": "爪夹成功夹取第三根杆子，向爪夹方向的右侧推动。", + "frame": 206, + "progress": 70, + "progress_explanation": "目前爪夹成功夹取第三根杆子，向爪夹方向的右侧推动，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，夹取第三根杆子。\n为完成将第三根杆子向右移动的任务应当:爪夹松开，第三根杆子成功向右移动。", + "time": 6.868178027080858, + "annotations": { + "point_1767596176820": { + "type": "point", + "instances": [ + { + "id": "point_1767596176820_1767596324686_tp17c1nfq", + "x": 0.5981110474785737, + "y": 0.5648148057725695 + } + ] + }, + "bbox_1767596160898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596160898_1767596328806_cae6meen5", + "x": 0.5681110493096283, + "y": 0.5114814724392361, + "width": 0.16599998986816464, + "height": 0.06755555555555554 + } + ] + } + } + }, + { + "action_description": "爪夹松开，向上抬升远离第三根杆子。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹夹取第三根杆子，成功将其向爪夹方向的右侧推动。", + "frame": 249, + "progress": 100, + "progress_explanation": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006689.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006689.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff291de3188c6a82f2ac31f1e40ef1fbb8bd5e6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006689.json @@ -0,0 +1,608 @@ +{ + "task_description": "把书从黑色碗里拿出来，放在桌子上。\n爪夹开始移动:0%\n爪夹靠近书:30%\n爪夹夹起书:50%\n爪夹移动书放在桌子上:70%\n爪夹松开，书成功放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度使其垂直桌面，然后下降靠近书，爪夹合拢夹取书后，向上抬起远离黑色碗，然后向爪夹方向的左侧移动，接着下降爪夹将书放在桌子上，松开爪夹，书成功放在桌子上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006097.json new file mode 100644 index 0000000000000000000000000000000000000000..38fe95b55943993ed8f7a471bd238056fe0758f4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006097.json @@ -0,0 +1,465 @@ +{ + "task_description": "打开冰箱的上门。\n爪夹开始移动:0%\n爪夹靠近冰箱上门:30%\n爪夹夹取冰箱上门把手:50%\n爪夹拉开冰箱上门:70%\n爪夹松开，冰箱上门成功打开:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度向爪夹方向左侧移动，然后向爪夹方向右侧移动至冰箱前面，接着向爪夹方向前方移动靠近冰箱上门，爪夹合拢夹取冰箱上门把手后，向爪夹方向后侧移动拉开冰箱上门，爪夹松开，首先微微向爪夹方向后侧移动，接着向爪夹方向右侧移动，远离冰箱上门。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成打开冰箱的上门的任务应当:调整爪夹角度向爪夹方向左侧移动。", + 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0000000000000000000000000000000000000000..2b0c652b25d4a3d8f856ff316518bb89b574683d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006132.json @@ -0,0 +1,432 @@ +{ + "task_description": "把右边的咖啡杯移到左边。\n爪夹开始移动:0%\n爪夹靠近咖啡杯:20%\n爪夹夹取咖啡杯:40%\n爪夹移动咖啡杯:60%\n爪夹移动咖啡杯放在左侧桌子上：80%\n爪夹松开，咖啡杯成功放在左侧桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度向爪夹方向右侧移动，再次调整爪夹角度，然后下降靠近咖啡杯，爪夹合拢夹取咖啡杯抬升至空中，首先向爪夹方向后侧移动，然后向爪夹方向左侧移动，接着向爪夹方向前方移动放在桌子上，爪夹松开，咖啡杯成功放在桌子上。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成打开冰箱的上门的任务应当:调整爪夹角度向爪夹方向右侧移动。", + "time": 0.37616602058470294, + "annotations": { + "bbox_1767606598805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606598805_1767606631861_ua84s21zo", + "x": 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"目前爪夹调整角度，向爪夹方向右侧移动，与上一阶段相比，距离咖啡杯更近，所以进度提升为10%。", + "error_success_analysis": "爪夹调整角度，向爪夹方向右侧移动，与上一阶段相比，距离咖啡杯更近。", + "correction_plan": "再次调整爪夹角度，爪夹下降靠近咖啡杯，爪夹合拢夹取咖啡杯抬升至空中，首先向爪夹方向后侧移动，然后向爪夹方向左侧移动，接着向爪夹方向前方移动放在桌子上，爪夹松开，咖啡杯成功放在桌子上。", + "annotations": { + "point_1767606615612": { + "type": "point", + "instances": [ + { + "id": "point_1767606615612_1767606652732_ct4noh835", + "x": 0.9931110233696885, + "y": 0.17054319932725695 + } + ] + }, + "point_1767606610525": { + "type": "point", + "instances": [ + { + "id": "point_1767606610525_1767606655580_ftcafdqge", + "x": 0.9231110276421491, + "y": 0.15592591688368054 + } + ] + }, + "bbox_1767606605021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606605021_1767606659381_1gg1oqvf4", + "x": 0.5691110492485931, + "y": 0.4812592502170139, + "width": 0.19299998822021552, + "height": 0.31466666666666665 + } + ] + }, + "bbox_1767606598805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606598805_1767606663772_qeqm2nyvm", + 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0000000000000000000000000000000000000000..ed93c5f8c418f3187f1aad28508450fd8b2833ef --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006393.json @@ -0,0 +1,682 @@ +{ + "task_description": "把记号笔从黄色杯子里取出来，展示给摄像头看，然后把它放在桌子上。\n爪夹开始移动:0%\n爪夹靠近记号笔:20%\n爪夹夹取记号笔:40%\n爪夹移动记号笔展示给摄像头:60%\n爪夹移动记号笔放在左侧桌子上：80%\n爪夹松开，记号笔成功放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度，向爪夹方向前方移动，然后持续向爪夹方向前方移动下降靠近记号笔，爪夹合拢夹取记号笔抬升至空中，首先向爪夹方向右后侧移动，靠近摄像头展示，然后向爪夹方向右侧移动，将记号笔放在桌子上，爪夹松开，记号笔成功放在桌子上。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把记号笔从黄色杯子里取出来，展示给摄像头看，然后把它放在桌子上的任务应当:调整爪夹角度，向爪夹方向左前方移动。", + "time": 1.3333333333333333, + "annotations": { + "bbox_1767665606550": { + "type": "bbox", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..f2bf887e2f59d38485ea65fb2b72877cc2541a4a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006454.json @@ -0,0 +1,438 @@ +{ + "task_description": "把那个白色的碗往前移一下。\n爪夹开始移动:0%\n爪夹靠近碗:30%\n爪夹夹取碗:50%\n爪夹向前移动碗:70%\n爪夹松开，碗成功往前移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度，向爪夹方向右前方移动，下降靠近碗，爪夹合拢夹取碗抬升至空中，首先向爪夹方向右侧微微移动，然后向爪夹方向后侧移动，接着又向爪夹方向右侧微微移动，将碗放在桌子上，爪夹松开，碗成功往前移动。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那个白色的碗往前移一下的任务应当:调整爪夹角度，向爪夹方向右前方移动。", + "time": 0.6401219383896071, + "annotations": { + "point_1767668166194": { + "type": "point", + "instances": [ + { + "id": "point_1767668166194_1767668284087_pe38jk8zr", + "x": 0.5461110506524016, + "y": 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"当前状态为爪夹合拢，夹取碗移动。\n为完成把那个白色的碗往前移一下的任务应当：爪夹松开，将碗放在桌子上。", + "time": 7.2, + "annotations": { + "point_1767668166194": { + "type": "point", + "instances": [ + { + "id": "point_1767668166194_1767668193169_m98p3ty7i", + "x": 0.7431110386284766, + "y": 0.9274814724392362 + } + ] + }, + "bbox_1767668156776": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767668156776_1767668196137_qruzoqkw7", + "x": 0.629111045586484, + "y": 0.7710370279947918, + "width": 0.3229999802856457, + "height": 0.2026666666666666 + } + ] + }, + "bbox_1767668148545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767668148545_1767668199565_qp5f2bhei", + "x": 0.6891110419243749, + "y": 0.8528148057725695, + "width": 0.176999989196778, + "height": 0.11733333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹松开，碗成功放在桌子上。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹夹取碗将其放在桌子上，碗成功往前移动。", + "frame": 122, + "progress": 100, + "progress_explanation": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006114.json @@ -0,0 +1,441 @@ +{ + "task_description": "打开那个白色的盖子。\n爪夹开始移动:0%\n爪夹靠近垃圾箱:30%\n爪夹合拢靠近盖子:50%\n爪夹按盖子:70%\n爪夹松开，盖子成功打开:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度，首先向爪夹方向前方移动，接着再向爪夹方向后侧移动，然后下降调整爪夹角度处在垃圾箱正上方，微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那个白色的碗往前移一下的任务应当:调整爪夹角度，向爪夹方向前方移动。", + "time": 1.4, + "annotations": { + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670957670_yzh4utn6o", + "x": 0.32211106432427583, + "y": 0.45874073621961803, + "width": 0.24099998529052818, + "height": 0.384 + } + ] + }, + "point_1767670938223": { + "type": "point", + 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"point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671049500_839wuzpdl", + "x": 0.583111048394101, + "y": 0.5776543104383681 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671051837_gt1em7ood", + "x": 0.6181110462578706, + "y": 0.568370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹上升，垃圾箱盖子打开。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹合拢按下垃圾箱盖子，微微上升，盖子被成功打开。", + "frame": 322, + "progress": 100, + "progress_explanation": "目前爪夹合拢按下垃圾箱盖子，微微上升，盖子被成功打开，所以进度提升为100%。", + "state_description": "当前状态为爪夹合拢，爪夹打开垃圾箱盖子。\n已完成把那个白色的碗往前移一下的任务。", + "time": 10.745566032138091, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671055564_gbf0hmdvo", + "x": 0.616111046379941, + "y": 0.5701481391059028 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671057796_8p4k5kncd", + "x": 0.5781110486992768, + "y": 0.5754814724392361 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767670929697", + "name": "垃圾箱盖子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767670938223", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767670943879", + "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_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json new file mode 100644 index 0000000000000000000000000000000000000000..83551002145492e649995a74805141d0daa32607 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json @@ -0,0 +1,654 @@ +{ + "task_description": "将叉子从盘架移到梳妆台顶部。\n爪夹开始移动:0%\n爪夹靠近叉子:30%\n爪夹夹取叉子:50%\n爪夹移动叉子:70%\n爪夹下降将叉子放在梳妆台顶部：90%\n爪夹松开，插座成功放在梳妆台顶部:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向上移动，然后向爪夹方向左侧移动，接着下降靠近叉子，爪夹合拢夹取叉子，爪夹向上抬升，然后向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:调整爪夹角度，向上移动。", + "time": 0.5980827060316132, + "annotations": { + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189843349_26lf3pi4n", + "x": 0.7711110369194923, + "y": 0.6469876437717014 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + 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"当前状态为爪夹打开，爪夹移动。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹向爪夹方向左侧移动至叉子上方，方便爪夹下降靠近叉子。", + "time": 1.7333333333333334, + "annotations": { + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189816918_o5p3nd79k", + "x": 0.17311107341851356, + "y": 0.5914814724392361, + "width": 0.14999999084472712, + "height": 0.23466666666666672 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189828975_4c1f2mohn", + "x": 0.5231110520562102, + "y": 0.036814805772569445, + "width": 0.4739999710693376, + "height": 0.6666666666666666 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189833414_d44431bbn", + "x": 0.46111105584038964, + "y": 0.6021481391059028 + } + ] + }, + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189836391_9rhadgtpm", + "x": 0.7701110369805274, + "y": 0.6394814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹下降靠近叉子，爪夹合拢夹取叉子，爪夹向上抬升，然后向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "爪夹向爪夹方向左侧移动靠近叉子，方便爪夹下降合拢抓取。", + "frame": 41, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左侧移动靠近叉子，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹向爪夹方向左侧移动至叉子上方，方便爪夹下降靠近叉子。", + "time": 2.7333333333333334, + "annotations": { + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189795335_dnau3wpj5", + "x": 0.7711110369194923, + "y": 0.6394814724392361 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189800375_ap5bskdqw", + "x": 0.46011105590142476, + "y": 0.6039259168836806 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189804631_0hwjt2ewl", + "x": 0.6631110435112888, + "y": 0.008370361328125001, + "width": 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"bbox_1768189101662", + "name": "梳妆台顶部" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768189111861", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768189119229", + "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_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006671.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006671.json new file mode 100644 index 0000000000000000000000000000000000000000..dd3869a4faec29b6d3396e3c017ad87fe8010ac9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006671.json @@ -0,0 +1,409 @@ +{ + "task_description": "关上微波炉的门。\n爪夹开始移动:0%\n爪夹靠近微波炉的门:30%\n爪夹贴着微波炉的门:50%\n爪夹移动微波炉的门:70%\n爪夹成功关上微波炉的门:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹向爪夹方向后方旋转调整角度，使爪夹对着微波炉的门，接着爪夹向爪夹方向左侧移动靠近微波炉的门，爪夹贴着微波炉的门向前推动直至关上，然后爪夹向爪夹方向右侧移动远离微波炉的门。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成关上微波炉的门的任务应当:爪夹向爪夹方向后方逆时针旋转调整角度，使爪夹对着微波炉的门。", + "time": 1.0666666666666667, + "annotations": { + "point_1768186671248": { + "type": "point", + "instances": [ + { + "id": "point_1768186671248_1768186806957_m4hqtrrt7", + "x": 0.4481110566338466, + "y": 0.6114320882161459 + } + ] + }, + "point_1768186676505": { + "type": "point", + "instances": [ + { + "id": "point_1768186676505_1768186809004_dfsl6ft8e", + "x": 0.7631110374077735, + "y": 0.6501481391059029 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方逆时针旋转。", + "correction_plan": "爪夹向爪夹方向左侧移动靠近微波炉的门，爪夹贴着微波炉的门向前推动直至关上，然后爪夹向爪夹方向右侧移动远离微波炉的门。", + "error_success_analysis": "爪夹逆时针旋转调整角度，方便爪夹向前移动靠近微波炉的门。", + "frame": 36, + "progress": 15, + "progress_explanation": "目前爪夹逆时针旋转调整角度，方便爪夹向前移动靠近微波炉的门，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹逆时针旋转。\n为完成关上微波炉的门的任务应当:爪夹向爪夹方向左侧移动直至靠近微波炉的门。", + "time": 2.4, + "annotations": { + "point_1768186676505": { + "type": "point", + "instances": [ + { + "id": "point_1768186676505_1768186790469_h8a8tu9jz", + "x": 0.7631110374077735, + "y": 0.6501481391059029 + } + ] + }, + "point_1768186671248": { + "type": "point", + "instances": [ + { + "id": "point_1768186671248_1768186792885_i94cpl3sh", + "x": 0.4471110566948817, + "y": 0.6217036946614584 + } + ] + }, + "bbox_1768186665112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768186665112_1768186796637_rz0k14hcc", + "x": 0.13111107598198998, + "y": 0.32481480577256944, + "width": 0.2929999821167003, + "height": 0.5351111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方左侧移动。", + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006839.json @@ -0,0 +1,377 @@ +{ + "task_description": "将这块布折叠一次。\n爪夹开始移动:0%\n爪夹靠近布:30%\n爪夹夹取布:50%\n爪夹移动折叠布:70%\n爪夹下降将布折叠在一起：90%\n爪夹松开，布成功折叠:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向爪夹方向后方移动，接着下降靠近布，爪夹合拢夹取布，爪夹向上抬升，然后向爪夹方向左侧移动折叠布，爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将这块布折叠一次的任务应当:调整爪夹角度，向爪夹方向后方移动。", + "time": 1.4666666666666666, + "annotations": { + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183316567_ecwrnnfib", + "x": 0.7681110371025978, + "y": 0.6501481391059029 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-007/observation.images.wrist_image_left/episode_007598.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee376b7100272187ed31650c3a3f71688f9a21d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-007/observation.images.wrist_image_left/episode_007598.json @@ -0,0 +1,586 @@ +{ + "task_description": "在水龙头下把牙刷弄湿，然后放回台面上\n爪夹开始移动：0%\n爪夹靠近牙刷：20%\n爪夹抓取牙刷：40%\n爪夹抓紧牙刷接近水龙头：50%\n爪夹将牙刷放在水龙头下：60%\n爪夹抓紧牙刷接近台面：80%\n爪夹松开，牙刷放回台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的正后方移动，随后向爪夹的左侧移动并下降，接近牙刷；爪夹继续下降至牙刷两侧，爪夹合拢抓取牙刷；爪夹夹住牙刷向爪夹的右侧移动，接近水龙头，爪夹下降，将牙刷放在水龙头的下方，爪夹夹住牙刷向上抬升，随后向爪夹的左侧移动，随后下降接近台面，爪夹松开，牙刷放在台面上。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "爪夹当前没有任何动作，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，没有接触牙刷，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹向爪夹的正后方移动，随后向爪夹的左侧移动，接近牙刷。", + "time": 0.3346098313078434, + "annotations": { + "point_1767591149413": { + "type": "point", + "instances": [ + { + "id": "point_1767591149413_1767597161439_xard2ejdy", + "x": 0.7734286423123538, + "y": 0.5961930484422545 + } + ] + }, + "point_1767591143733": { + "type": "point", + "instances": [ + { + "id": "point_1767591143733_1767597163919_7xw2kas08", + "x": 0.43271115583582676, + "y": 0.5840782099926899 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正后方移动，随后向爪夹的左侧移动。", + "correction_plan": "爪夹向爪夹的左侧移动并下降，接近牙刷；爪夹继续下降至牙刷两侧，爪夹合拢抓取牙刷；爪夹夹住牙刷向爪夹的右侧移动，接近水龙头，爪夹下降，将牙刷放在水龙头的下方，爪夹夹住牙刷向上抬升，随后向爪夹的左侧移动，随后下降接近台面，爪夹松开，牙刷放在台面上。", + "error_success_analysis": "爪夹向爪夹的正后方移动，向爪夹的左侧移动，水平上接近了牙刷。", + "frame": 42, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正后方移动，向爪夹的左侧移动，方便抓取，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，在牙刷的斜上方，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹继续向爪夹的左侧移动至牙刷的正上方，随后下降，接近牙刷。", + "time": 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"action_description": "爪夹向爪夹的左侧移动至牙刷的上方，随后爪夹轻微下降。", + "state_description": "爪夹当前为张开的状态，角度接近垂直台面，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹轻微向爪夹左侧移动至牙刷正上方，随后下降接近牙刷。", + "progress_explanation": "爪夹向爪夹的左侧移动，更加接近牙刷，因此任务进度提升为15%。", + "error_success_analysis": "爪夹向爪夹的左侧移动，更加接近牙刷，离抓取牙刷又近了一步。", + "correction_plan": "爪夹轻微向爪夹左侧移动至牙刷正上方，随后下降接近牙刷，爪夹继续下降至牙刷两侧，爪夹合拢抓取牙刷；爪夹夹住牙刷向爪夹的右侧移动，接近水龙头，爪夹下降，将牙刷放在水龙头的下方，爪夹夹住牙刷向上抬升，随后向爪夹的左侧移动，随后下降接近台面，爪夹松开，牙刷放在台面上。", + "annotations": { + "point_1767591149413": { + "type": "point", + "instances": [ + { + "id": "point_1767591149413_1767597098743_hep1bvg2c", + "x": 0.7717250548799711, + "y": 0.5931643388298633 + } + ] + }, + "point_1767591143733": { + "type": "point", + "instances": [ + { + "id": "point_1767591143733_1767597102482_zrb7xh6sh", + "x": 0.4293039809710614, + "y": 0.5901356292174722 + } + ] + }, + "bbox_1767591091808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591091808_1767597109792_bsu9rp8jn", + "x": 0.46507931705109684, + "y": 0.3145230544898762, 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"progress_explanation": "爪夹合拢抓取牙刷，因此任务进度提升为40%。", + "state_description": "爪夹为合拢抓取牙刷的状态，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹夹住牙刷向上抬升，随后向爪夹左侧旋转，向爪夹的右侧移动。", + "time": 6.479280144456998, + "annotations": { + "point_1767591149413": { + "type": "point", + "instances": [ + { + "id": "point_1767591149413_1767597059440_lvti4evyc", + "x": 0.6252165356950645, + "y": 0.5568198234811693 + } + ] + }, + "point_1767591143733": { + "type": "point", + "instances": [ + { + "id": "point_1767591143733_1767597061473_yfbxkxl8w", + "x": 0.5707017378588202, + "y": 0.5598485330935605 + } + ] + }, + "bbox_1767591091808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591091808_1767597069113_so7g4updr", + "x": 0.5792196750207333, + "y": 0.2751498295287911, + "width": 0.03918251094480061, + "height": 0.5451677302304095 + } + ] + }, + "bbox_1767591137965": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591137965_1767597075664_rr3jltp2r", + "x": 0.01703582233446379, + "y": 0.014680802863151, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008041.json new file mode 100644 index 0000000000000000000000000000000000000000..8e409b01a1714226e5a5abf47ab497ce00280f15 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008041.json @@ -0,0 +1,402 @@ +{ + "task_description": "移动绿色布料\n爪夹开始移动：0%\n爪夹接近绿色布料：25%\n爪夹紧挨着绿色布料：50%\n爪夹移动绿色布料：75%\n爪夹松开，移动绿色布料完成：100%", + "progress_points": [ + { + "time": 2.544, + "frame": 76, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "爪夹当前为张开的状态，暂未移动，没有接触绿色布料，为完成移动绿色布料的任务，应当：爪夹向爪夹的左前方移动并下降，接近绿色布料。", + "progress_explanation": "爪夹当前没有移动，没有接近绿色布料，因此任务进度为0.", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的左前方移动并下降，接近绿色布料，爪夹继续下降至绿色布料的两侧，紧挨着绿色布料，爪夹推着绿色布料向爪夹的右侧移动至桌面的右侧，爪夹松开，移动绿色布料完成。", + "annotations": { + 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new file mode 100644 index 0000000000000000000000000000000000000000..34d2715e88efd8ffb95b76bb4ad19192feb3d05b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008043.json @@ -0,0 +1,293 @@ +{ + "task_description": "按下泵瓶\n爪夹开始移动：0%\n爪夹接近泵瓶：25%\n爪夹紧挨着泵瓶：50%\n爪夹按下泵瓶：75%\n爪夹松开，按下泵瓶完成：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的正前方移动，随后下降调整角度，爪夹合拢，接近泵瓶；爪夹合拢继续下降紧挨着泵瓶，爪夹轻微下降按下泵瓶，爪夹松开，按下泵瓶完成。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近泵瓶，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，没有接触泵瓶，为完成按下泵瓶的任务，应当：爪夹向爪夹的正前方移动，随后下降调整角度，爪夹合拢，接近泵瓶。", + "time": 0.7100594413987964, + "annotations": { + "bbox_1767604564370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604564370_1767604896979_gbdfh5zfo", + "x": 0.5008546531311321, + "y": 0.39629821402443766, + "width": 0.028960986350504835, + "height": 0.10903354604608195 + } + ] + }, + "point_1767604570346": { + "type": "point", + "instances": [ + { + "id": "point_1767604570346_1767604900379_pe0lkto0r", + "x": 0.7563927679885274, + "y": 0.03891047976228031 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动，移动过程中开始下降。", + "correction_plan": "爪夹向爪夹的正前方移动，随后下降调整角度，爪夹合拢，接近泵瓶；爪夹合拢继续下降紧挨着泵瓶，爪夹轻微下降按下泵瓶，爪夹松开，按下泵瓶完成。", + "error_success_analysis": "爪夹向爪夹的正前方移动，水平上未接近泵瓶。", + "frame": 25, + "progress": 5, + "progress_explanation": "爪夹向爪夹的正前方移动，缩短了与泵瓶的距离，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开的状态，为完成按下泵瓶的任务，应当：爪夹继续向爪夹的正前方移动并下降，接近泵瓶。", + "time": 1.6666666666666667, + "annotations": { + "point_1767604575570": { + "type": "point", + "instances": [ + { + "id": "point_1767604575570_1767604825053_0g5v5houe", + "x": 0.5979591367769423, + "y": 0.1903459603818385 + } + ] + }, + "point_1767604570346": { + "type": "point", + "instances": [ + { + "id": "point_1767604570346_1767604827989_dzc98djll", + "x": 0.5638873881292896, + "y": 0.1903459603818385 + } + ] + }, + "bbox_1767604564370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604564370_1767604874085_f3zekbywu", + "x": 0.5025582405635147, + "y": 0.39629821402443766, + "width": 0.027257398918122178, + "height": 0.11206225565847308 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，移动的过程中下降，接近泵瓶的正上方。", + "correction_plan": "爪夹轻微向爪夹的右前方移动，随后下降，爪夹合拢，接近泵瓶；爪夹合拢继续下降紧挨着泵瓶，爪夹轻微下降按下泵瓶，爪夹松开，按下泵瓶完成。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，更加接近泵瓶，方便后续按下泵瓶。", + "frame": 80, + "progress": 15, + "progress_explanation": "爪夹继续向爪夹的右前方移动，更加接近泵瓶，因此任务进度提升为15%。", + "state_description": "当前爪夹为张开的状态，接近泵瓶的正上方，为完成按下泵瓶的任务，应当：爪夹轻微向爪夹的右前方移动，随后下降，爪夹合拢。", + "time": 2.680837893921689, + "annotations": { + "bbox_1767604564370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604564370_1767604738270_s09i1sim0", + "x": 0.5025582405635147, + "y": 0.3902407947996553, + 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+ "y": 0.40841305247400234, + "width": 0.03407174864765272, + "height": 0.10297612682129961 + } + ] + } + } + }, + { + "action_description": "爪夹向下轻微下降，按下泵瓶。", + "correction_plan": "爪夹松开，按下泵瓶完成。", + "error_success_analysis": "爪夹向下轻微下降，按下泵瓶。", + "frame": 96, + "progress": 75, + "progress_explanation": "爪夹向下轻微下降，按下泵瓶，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，紧挨着泵瓶，为完成按下泵瓶的任务，应当：爪夹松开并向上抬升。", + "time": 6.4, + "annotations": { + "bbox_1767604564370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604564370_1767604689184_1sjtas16y", + "x": 0.49915106569874956, + "y": 0.4053843428616112, + "width": 0.03407174864765263, + "height": 0.10297612682129953 + } + ] + }, + "point_1767604570346": { + "type": "point", + "instances": [ + { + "id": "point_1767604570346_1767604710985_ityxiae1k", + "x": 0.5178905274549586, + "y": 0.3872120851872642 + } + ] + } + } + }, + { + "action_description": "爪夹松开泵瓶，向上抬升，随后爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹成功按下泵瓶，任务完成。", + "frame": 116, + "progress": 100, + "progress_explanation": "爪夹成功按下泵瓶因此任务进度提升为100%。", + "state_description": "当前爪夹为张开的状态，远离泵瓶，爪夹已完成按下泵瓶的任务.", + "time": 7.733333333333333, + "annotations": { + "bbox_1767604564370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604564370_1767604662936_hu4v5jwhe", + "x": 0.5008546531311321, + "y": 0.38418337557487303, + "width": 0.030664573782887495, + "height": 0.13326322294521123 + } + ] + }, + "point_1767604570346": { + "type": "point", + "instances": [ + { + "id": "point_1767604570346_1767604672753_j289k0ztc", + "x": 0.5008546531311321, + "y": 0.3024082160403116 + } + ] + }, + "point_1767604575570": { + "type": "point", + "instances": [ + { + "id": "point_1767604575570_1767604675777_8vwbyj37k", + "x": 0.5298156394816369, + "y": 0.29029337759074697 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767604564370", + "name": "泵瓶", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767604570346", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767604575570", + "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_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008323.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008323.json new file mode 100644 index 0000000000000000000000000000000000000000..81dd38188d57e15725364855626f0be4f2bfd989 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008323.json @@ -0,0 +1,582 @@ +{ + "task_description": "把蓝色积木放进开放式抽屉里，然后关上抽屉\n准备开始移动：0%\n爪夹接近蓝色积木：10%\n爪夹抓取蓝色积木：20%\n爪夹抓紧蓝色积木接近抽屉：30%\n爪夹将蓝色积木放入抽屉：40%\n爪夹松开蓝色积木落入抽屉：50%\n爪夹接近抽屉：60%\n爪夹挨着抽屉：70%\n爪夹推动抽屉移动：80%\n爪夹松开，抽屉合上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的左前方移动，轻微下降，接近蓝色积木；爪夹下降至蓝色积木两侧，爪夹合拢抓取蓝色方块，爪夹夹住蓝色积木轻微向上抬升，向爪夹的右后方移动，接近抽屉，爪夹夹住蓝色积木轻微下降，向爪夹的右后方移动，将蓝色积木放入抽屉，爪夹松开，蓝色积木落入抽屉，爪夹张开，向抓夹正后方移动并下降，接近抽屉，爪夹向正前方移动，挨着抽屉，随后爪夹推着抽屉向爪夹的正前方移动，爪夹松开，抽屉合上。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹没有动作，没有接近蓝色积木，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成把蓝色积木放进开放式抽屉里，然后关上抽屉的任务，应当：爪夹向爪夹的左前方移动，轻微向上抬升。", + "time": 0.9590413249473408, + "annotations": { + "point_1767666098472": { + "type": "point", + "instances": [ + { + "id": "point_1767666098472_1767666393152_xpypxy1wh", + "x": 0.291313398948068, + "y": 0.5386475658068224 + } + ] + }, + "bbox_1767666076040": { + "type": "bbox", + "instances": [ + { + "id": 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"将黑色胶带移动到橙色卷尺的左侧\n爪夹开始移动：0%\n爪夹接近黑色胶带：25%\n爪夹抓取黑色胶带：50%\n爪夹移动黑色胶带接近橙色卷尺：75%\n爪夹松开，黑色胶带落到橙色卷尺的左侧：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的右前方移动，随后下降，接近黑色胶带；爪夹下降至黑色胶带，爪夹合拢抓取黑色胶带；爪夹夹住黑色胶带向上抬升，随后向爪夹的左前方移动，接近橙色卷尺；爪夹夹住黑色胶带下降，爪夹松开，黑色胶带落到橙色卷尺的左侧。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触黑色胶带，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触黑色胶带，为完成将黑色胶带移动到橙色卷尺的左侧的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近黑色胶带。", + "time": 0.6553287402799781, + "annotations": { + "bbox_1767670600257": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670600257_1767670825500_yrfy8l8o0", + "x": 0.41397169407961776, + "y": 0.6870543368139894, + "width": 0.12606546999631493, + "height": 0.21806709209216374 + } + ] + }, + "bbox_1767670609340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670609340_1767670833980_8wq4lu0ys", + "x": 0.5298156394816369, + "y": 0.5235040177448665, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008642.json new file mode 100644 index 0000000000000000000000000000000000000000..1a8f794913cf2f0d0a66e38f0014bfb950746400 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008642.json @@ -0,0 +1,752 @@ +{ + "task_description": "将右侧上层橱柜的门打开\n爪夹开始移动：0%\n爪夹接近右侧柜门把手：20%\n爪夹抓取右侧柜门把手：30%\n爪夹抓住右侧柜门把手向外移动：40%\n爪夹松开，右侧柜门打开：50%\n爪夹接近左侧柜门：60%\n爪夹勾住左侧柜门：70%\n爪夹勾住左侧柜门向外移动：80%\n爪夹松开，右侧上层橱柜的门打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向上抬升，随后调整角度向爪夹的正前方移动，接近右侧柜门把手；爪夹合拢抓住右侧柜门把手，爪夹夹住右侧柜门把手向爪夹的后方移动，使右侧柜门打开；爪夹松开，向爪夹的左侧移动接近左侧柜门，爪夹勾住左侧柜门，爪夹勾住左侧柜门向爪夹的后方移动，使左侧柜门打开，爪夹松开，右侧上层橱柜的门完全打开。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": 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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_0001/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008820.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008820.json new file mode 100644 index 0000000000000000000000000000000000000000..2618d0cc359eda9d610169b1660abd8d19416aa9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008820.json @@ -0,0 +1,1280 @@ +{ + "task_description": "将四块黑色物品排成一条直线\n爪夹开始移动：0\n爪夹接近第二块黑色物品：10%\n爪夹抓取第二块黑色物品：20%\n爪夹抓紧第二块黑色物品放在第一块黑色物品左侧：30%\n爪夹接近第三块黑色物品：40%\n爪夹抓取第三块黑色物品：50%\n爪夹抓紧第三块黑色物品放在第二块黑色物品左侧：60%\n爪夹接近第四块黑色物品：70%\n爪夹抓取第四块黑色物品：80%\n爪夹抓紧第四块黑色物品放在第三块黑色物品左侧：90%\n爪夹松开，四块黑色物品排成一条直线：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹旋转角度向右前方向移动并下降，接近第二块黑色物品，爪夹下降随后合拢抓住第二块黑色物品，爪夹夹住第二块黑色物品向上抬升，随后向右后方向移动接近第一块黑色物体，将第二块黑色物品放在第一块黑色物品左侧；爪夹松开，向上抬升，向右前方移动，接近第三块黑色物品；爪夹下降，爪夹合拢抓住第三块黑色物品，爪夹夹住第三块黑色物品向右后方向移动，将第三块黑色物品放在第二块黑色物品左侧；爪夹旋转角度向左前方向移动，接近第四块黑色物体；爪夹合拢抓取第四块黑色物品，爪夹夹住第四块黑色物体向右侧移动，将第四块黑色物品放在第三块黑色物品左侧；爪夹松开，四块黑色物品排成一条直线。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触第二块黑色物品，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触第二块黑色物品，为完成将四块黑色物品排成一条直线的任务，应当：爪夹旋转角度向右前方向移动并下降，接近第二块黑色物品。", + "time": 0, + "annotations": { + "point_1768206763687": { + "type": "point", + "instances": [ + { + "id": "point_1768206763687_1768207252019_aaxy7zz0p", + "x": 0.7734286423123538, + "y": 0.4477862774350875 + } + ] + }, + "point_1768206758693": { + "type": "point", + "instances": [ + { + "id": "point_1768206758693_1768207255546_yx7frmt3g", + "x": 0.7035815575846657, + "y": 0.49927434084573724 + } + ] + }, + "bbox_1768206703671": { + "type": "bbox", + 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"爪夹向右前方向移动并下降，接近第二块黑色物品，爪夹下降随后合拢抓住第二块黑色物品，爪夹夹住第二块黑色物品向上抬升，随后向右后方向移动接近第一块黑色物体，将第二块黑色物品放在第一块黑色物品左侧；爪夹松开，向上抬升，向右前方移动，接近第三块黑色物品；爪夹下降，爪夹合拢抓住第三块黑色物品，爪夹夹住第三块黑色物品向右后方向移动，将第三块黑色物品放在第二块黑色物品左侧；爪夹旋转角度向左前方向移动，接近第四块黑色物体；爪夹合拢抓取第四块黑色物品，爪夹夹住第四块黑色物体向右侧移动，将第四块黑色物品放在第三块黑色物品左侧；爪夹松开，四块黑色物品排成一条直线。", + "error_success_analysis": "爪夹向右前方移动，缩短了与第二块黑色物品的距离。", + "frame": 64, + "progress": 5, + "progress_explanation": "爪夹向右前方移动，水平上接近了第二块黑色物品，因此任务进度提升为5%。", + "state_description": "当前爪夹为张开的状态，在第二块黑色物品的上方，为完成将四块黑色物品排成一条直线的任务，应当：爪夹向右前方移动并下降，接近第二块黑色物品。\n", + "time": 2.1429911039922254, + "annotations": { + "bbox_1768206745614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768206745614_1768207231043_dypiyz2p0", + "x": 0.4616721421863315, + "y": 0.6840256272015982, + "width": 0.09199372134866231, + "height": 0.06966032108499687 + } + ] + }, + "bbox_1768206739296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768206739296_1768207237067_mr26ovzbc", + "x": 0.49404030340160154, + "y": 0.8142601405344183, 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json new file mode 100644 index 0000000000000000000000000000000000000000..e64824a822ac71b312aaf6908fd6e9e6fee692e8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json @@ -0,0 +1,397 @@ +{ + "task_description": "将粉色篮球推向左侧\n爪夹开始移动：0%\n爪夹接近粉色篮球：25%\n爪夹第一次推动粉色篮球向左滚动：50%\n爪夹第二次推动粉色篮球向左滚动：75%\n爪夹上升，粉色篮球成功推向左侧：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向右侧移动，随后下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触第二块黑色物品，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触第粉色篮球，为完成将粉色篮球推向左侧的任务，应当：爪夹向右侧移动，随后下降，接近粉色篮球。", + "time": 1.2666666666666666, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210157337_fc8qn3snn", + "x": 0.7666142925828232, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210160766_w168om2k4", + "x": 0.43782191813297466, + "y": 0.6143653061166015 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动。", + "correction_plan": "爪夹向右侧移动，随后下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向右侧移动，缩短了与粉色篮球的距离。", + "frame": 31, + "progress": 10, + "progress_explanation": "爪夹向右侧移动，接近粉色篮球，因此任务进度提升为10%。", + "state_description": "当前爪夹为张开的状态，垂直于桌面，为完成将粉色篮球推向左侧的任务，应当：爪夹继续向右侧移动，随后下降，接近粉色篮球。", + "time": 2.066666666666667, + "annotations": { + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210149336_hqc5nzckl", + "x": 0.6899528581256046, + "y": 0.34178144100139674, + "width": 0.22146636620974255, + "height": 0.3573877342621573 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210151407_q6pubghbb", + "x": 0.4446362678625052, + "y": 0.6083078868918191 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210153071_s1897zkx1", + "x": 0.7751322297447364, + "y": 0.6264801445661662 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "爪夹下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向右侧移动，在粉色篮球的右上方", + "frame": 44, + "progress": 20, + "progress_explanation": "爪夹向右侧移动，在粉色篮球的右上方，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右上方，为完成将粉色篮球推向左侧的任务，应当：爪夹下降，接近了粉色篮球。", + "time": 2.933333333333333, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210125945_4wyxxhiqd", + "x": 0.7802429920418843, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210127759_tlacyqei8", + "x": 0.4395255055653573, + "y": 0.6204227253413838 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210135590_danuertj4", + "x": 0.1243618305745698, + "y": 0.3387527313890056, + "width": 0.3304959618822312, + "height": 0.5572825686799743 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右侧移动并下降。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹轻微向右侧移动并下降，更加方便推动粉色篮球。", + "frame": 112, + "progress": 25, + "progress_explanation": 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+ "frame": 77, + "progress": 50, + "progress_explanation": "爪夹第一次推动粉色篮球向左滚动，因此任务进度提升为50%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的正上方，为完成将粉色篮球推向左侧的任务，应当：爪夹下降，向右侧移动，接近粉色篮球。", + "time": 5.133333333333334, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210098072_o2c3802rc", + "x": 0.7785394046095017, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210101407_yb6ayavbd", + "x": 0.43782191813297466, + "y": 0.6173940157289927 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210107175_o306bdhum", + "x": 0.41737886894438303, + "y": 0.2690924103040088, + "width": 0.22146636620974255, + "height": 0.39676095922324256 + } + ] + } + } + }, + { + "action_description": "爪夹下降，向右侧移动。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹下降在粉色篮球的右侧，方便推动粉色篮球。", + "frame": 204, + "progress": 60, + "progress_explanation": "爪夹向右侧移动并下降，更加方便推动粉色篮球，因此任务进度提升为60%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右侧，为完成将粉色篮球推向左侧的任务，应当：爪夹向左侧移动，推动粉色篮球向左滚动。", + "time": 6.816406107216418, + "annotations": { + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210090170_p6adaos5b", + "x": 0.008517885172550614, + "y": 0.568934661930734, + "width": 0.2555381148573953, + "height": 0.4088757976728071 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210092296_w14ma8o4j", + "x": 0.43782191813297466, + "y": 0.6204227253413838 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210094095_3agp7ujxh", + "x": 0.7802429920418843, + "y": 0.6143653061166015 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向上抬升，随后下降向左侧移动。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向左侧移动并下降，更加接近粉色篮球", + "frame": 128, + "progress": 70, + "progress_explanation": "爪夹向左侧移动并下降，更加接近粉色篮球，因此任务进度提升为67%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右侧，为完成将粉色篮球推向左侧的任务，应当：爪夹向左侧移动，推动粉色篮球向左滚动。", + "time": 8.533333333333333, + "annotations": { + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210075761_vw3uezvmb", + "x": 0.4395255055653573, + "y": 0.6083078868918191 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210077720_rf26c9l1a", + "x": 0.7870573417714148, + "y": 0.623451434953775 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210083999_sz6y91axo", + "x": 0.011925060037315884, + "y": 0.5083604696829107, + "width": 0.3492354236384402, + "height": 0.4755074091454128 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动并轻微向上抬升。", + "correction_plan": "爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向左侧移动并成功第二次推动粉色篮球向左滚动。", + "frame": 290, + "progress": 75, + "progress_explanation": "爪夹向左侧移动并成功第二次推动粉色篮球向左滚动，因此任务进度提升为75%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的上方，为完成将粉色篮球推向左侧的任务，应当：爪夹上升，粉色篮球成功推向左侧", + "time": 9.675567596731765, + "annotations": { + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210061520_onb8x26dq", + "x": 0.43611833070059197, + "y": 0.6173940157289927 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210063312_ldx9uuzm7", + "x": 0.7802429920418843, + "y": 0.623451434953775 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210070791_i9opwh03g", + "x": 0.240205775976589, + "y": 0.19337466999422967, + "width": 0.38160358485371026, + "height": 0.6178567609277975 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右移动。", + "correction_plan": "", + "error_success_analysis": "爪夹上升，任务完成。", + "frame": 320, + "progress": 100, + "progress_explanation": "爪夹上升，粉色篮球成功推向左侧，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开状态，垂直于桌面，爪夹已完成将粉色篮球推向左侧的任务。", + "time": 10.670058549606669, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210056399_8nr8fxssg", + "x": 0.776835817177119, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210058384_3e894odb3", + "x": 0.4395255055653573, + "y": 0.6173940157289927 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768210031129", + "name": "粉色篮球", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768210040024", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768210045033", + "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_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json new file mode 100644 index 0000000000000000000000000000000000000000..d2468d46498ae2af45dfa3496d16bc9db89ec282 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json @@ -0,0 +1,403 @@ +{ + "task_description": "将毛巾向爪夹右侧滑动。\n爪夹开始移动:0%\n爪夹靠近毛巾:30%\n爪夹夹起毛巾:50%\n爪夹移动毛巾 :70%\n爪夹将毛巾移动到爪夹右侧桌子:90%\n爪夹松开，毛巾放在右侧桌子边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的左前方移动到达毛巾的上方后下降，抓\n取毛巾后，向爪夹的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将毛巾向爪夹右侧滑动的任务应当:调\n整爪夹角度使其垂直于桌面，然后向爪夹方向\n的左侧移动至毛巾上方，准备抓取毛巾。", + "time": 0.11486765345196889, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492720375_niyk8smge", + "x": 0.5131110526665617, + "y": 0.8277777642144097, + "width": 0.13399999182128958, + "height": 0.13511111111111107 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492724984_t7o2h8a8a", + "x": 0.5941110477227143, + "y": 0.759629625108507 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492727495_ia7ybnmca", + "x": 0.662111043572324, + "y": 0.791629625108507 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左侧移动到毛巾上方，方便爪夹下降靠近毛巾。", + "correction_plan": "爪夹下降抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹保持张开状态，向爪夹左侧移动靠近毛巾，方便爪夹下降抓取毛巾。", + "frame": 30, + "progress": 15, + "progress_explanation": "目前爪夹处于张开状态，向爪夹左侧移动靠近毛巾，方便爪夹下降抓取毛巾，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，准备靠近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹下降靠近毛巾，准备抓取毛巾。", + "time": 2, + "annotations": { + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492735242_9r6lxwthx", + "x": 0.62211104601373, + "y": 0.7169629584418402 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492738422_bo643a125", + "x": 0.5711110491265228, + "y": 0.6849629584418403 + } + ] + }, + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492753006_6qk2li0y7", + "x": 0.5081110529717374, + "y": 0.8360740695529515, + "width": 0.14599999108886771, + "height": 0.12799999999999995 + } + ] + } + } + }, + { + "time": 4.0766, + "frame": 122, + "progress": 20, + "action_description": "爪夹向下移动靠近毛巾。", + "state_description": "当前状态为爪夹打开，靠近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于张开状态，爪夹下降方便抓取毛巾，所以进度提升为20%。", + "error_success_analysis": "爪夹靠近毛巾，方便爪夹合拢抓取毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492759926_301ymlndo", + "x": 0.511111052788632, + "y": 0.8307407362196181, + "width": 0.14799999096679742, + "height": 0.12088888888888884 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492765813_upo4kcgem", + "x": 0.5231110520562102, + "y": 0.8574074028862847 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动贴近毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于毛巾正上方，方便爪夹合拢抓取毛巾。", + "frame": 98, + "progress": 25, + "progress_explanation": "目前爪夹处于张开状态，爪夹下降方便抓取毛巾，所以进度提升为25%。", + "state_description": "当前状态为爪夹打开，贴近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "time": 6.533333333333333, + "annotations": { + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492772525_osuleixhe", + "x": 0.5581110499199798, + "y": 0.8698518473307292 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492775005_8kxhu9cjq", + "x": 0.5301110516289641, + "y": 0.8449629584418403 + } + ] + }, + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492782030_kilb1jwng", + "x": 0.49711105364312413, + "y": 0.8502962917751737, + "width": 0.16499998992919984, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "time": 8.502, + "frame": 255, + "progress": 30, + "action_description": "爪夹向爪夹方向左下方移动移动贴近毛巾。", + "state_description": "当前状态为爪夹打开，贴近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于张开状态，爪夹贴近毛巾，方便抓取毛巾，所以进度提升为30%。", + "error_success_analysis": "爪夹处于张开状态，爪夹贴近毛巾，方便抓取毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492787189_8sw6izco1", + "x": 0.5121110527275968, + "y": 0.8449629584418403, + "width": 0.14899999090576221, + "height": 0.1297777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取毛巾微微上升。", + "correction_plan": "爪夹抓取毛巾，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾抬升至空中,方便向爪夹方向右侧滑动。", + "frame": 159, + "progress": 50, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾抬升至空中，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾向爪夹方向的右侧滑动。", + "time": 10.6, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492791740_eijrzcasq", + "x": 0.5191110523003507, + "y": 0.8218518473307292, + "width": 0.150999990783692, + "height": 0.14044444444444446 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492796356_6lik9yf3g", + "x": 0.5821110484551362, + "y": 0.8732098524305556 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492799180_dndjov1ot", + "x": 0.5711110491265228, + "y": 0.8574074028862847 + } + ] + } + } + }, + { + "time": 12.0336, + "frame": 361, + "progress": 60, + "action_description": "爪夹抓取毛巾向爪夹方向右侧滑动。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，所以进度提升为60%。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动。", + "correction_plan": "爪夹抓取毛巾直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492812381_3bdtz5g7v", + "x": 0.5221110521172453, + "y": 0.8364691297743055, + "width": 0.1749999893188483, + "height": 0.12444444444444448 + } + ] + } + } + }, + { + "action_description": "爪夹抓取毛巾向爪夹方向右侧移动。", + "correction_plan": "爪夹抓取毛巾直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，方便爪夹将毛巾滑向桌子边缘。", + "frame": 401, + "progress": 70, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾持续向爪夹方向的右侧滑动。", + "time": 13.374660633541106, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492820987_n6n3s7xu0", + "x": 0.6171110463189058, + "y": 0.8058518473307292, + "width": 0.16999998962402402, + "height": 0.16711111111111102 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492826988_b1denc9tv", + "x": 0.68811104198541, + "y": 0.8751851806640626 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492834052_voh0vcpc6", + "x": 0.6981110413750584, + "y": 0.8858518473307291 + } + ] + } + } + }, + { + "time": 14.88043373466987, + "frame": 446, + "progress": 80, + "action_description": "爪夹抓取毛巾靠近桌子右侧边缘。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾靠近桌子边缘。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾在桌子右侧边缘。", + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，所以进度提升为80%。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，方便爪夹将毛巾放在桌子边缘。", + "correction_plan": "松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492841693_pe920briq", + "x": 0.6911110418023045, + "y": 0.8574074028862847, + "width": 0.18199998889160218, + "height": 0.12088888888888899 + } + ] + } + } + }, + { + "action_description": "爪夹抓取毛巾靠近桌子右侧边缘。", + "correction_plan": "松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，方便爪夹将毛巾放在桌子边缘。", + "frame": 473, + "progress": 90, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾靠近桌子边缘。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾在桌子右侧边缘。", + "time": 15.756928524879156 + }, + { + "time": 17.2656, + "frame": 518, + "progress": 95, + "action_description": "爪夹松开，毛巾放在桌子边缘，爪夹微微抬升至空中。", + "state_description": "当前状态为爪夹张开，已完成爪夹将毛巾向爪夹右侧滑动的任务。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹松开，毛巾放在桌子右侧边缘。", + "progress_explanation": "目前爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘，所以进度提升为95%。", + "error_success_analysis": "爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘", + "correction_plan": "爪夹张开，微微抬升至空中。" + }, + { + "action_description": "爪夹微微抬升至空中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘。", + "frame": 556, + "progress": 100, + "progress_explanation": "目前爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘，所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，已完成爪夹将毛巾向爪夹右侧滑动的任务。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹松开，毛巾放在桌子右侧边缘。", + "time": 18.52125824784689, + "annotations": { + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492859539_n168tgzya", + "x": 0.8621110313652934, + "y": 0.9042222086588543 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492862427_x38oo1uow", + "x": 0.8741110306328717, + "y": 0.8982962917751737 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767492686006", + "name": "毛巾", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767492692823", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767492699310", + "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_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json new file mode 100644 index 0000000000000000000000000000000000000000..b3729de3ea2648f9587e92ea70804803895250bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json @@ -0,0 +1,438 @@ +{ + "task_description": "把银锅的盖子拿起来，放在桌子上。\n爪夹开始移动:0%\n爪夹靠近银锅:30%\n爪夹夹起银锅:50%\n爪夹移动银锅 :70%\n爪夹将银锅移动到桌子右侧:90%\n爪夹松开，银锅放在桌子边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的前方移动到达银锅盖子的上方后下降，抓\n取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，调整角度准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触银锅盖子 。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:调整爪夹角度向爪夹方向的前方移动。", + "time": 0.6633368552051753, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498519253_m0ydnf3tb", + "x": 0.5641110495537689, + "y": 0.6197777642144098, + "width": 0.11599999291992225, + "height": 0.1511111111111112 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498531973_qupp12y7r", + "x": 0.39811105968560423, + "y": 0.36851851399739577, + "width": 0.4869999702758804, + "height": 0.5760000000000001 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498535212_hlxbp9gpm", + "x": 0.9461110262383405, + "y": 0.13740740288628472 + } + ] + }, + "point_1767498487205": { + "type": "point", + "instances": [ + { + "id": "point_1767498487205_1767498538355_gs2v538uh", + "x": 0.9311110271538678, + "y": 0.1231851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹微微调整角度垂直桌面，准备向爪夹方向前方移动。", + "correction_plan": "向爪夹方向的前方移动到达银锅盖子的上方后下降，抓取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹处于初始状态，向爪夹方向的前方移动，方便下降抓取银锅盖子。", + "frame": 49, + "progress": 15, + "progress_explanation": "目前爪夹处于初始状态，向爪夹方向的前方移动，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，调整角度，准备开始移动 。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:向爪夹方向的前方移动，然后下降靠近至银锅盖子，准备抓取银锅盖子。", + "time": 1.6192130445432655, + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498559258_286esws5t", + "x": 0.3961110598076746, + "y": 0.35291357421874997, + "width": 0.48699997027588077, + "height": 0.5777777777777777 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498563212_6qm3i4wwt", + "x": 0.5701110491875581, + "y": 0.6227407362196181, + "width": 0.10799999340820347, + "height": 0.14044444444444446 + } + ] + }, + "point_1767498480445": { + 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"当前状态为爪夹合拢，抓紧银锅盖子。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:继续保持爪夹合拢，向爪夹方向的右侧移动，完全脱离锅的范围后开始下降。", + "time": 4.176601094965349, + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498627318_oe7l3w74j", + "x": 0.39511105986870965, + "y": 0.34402468532986114, + "width": 0.4889999701538105, + "height": 0.5724444444444444 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498631242_j2nred9ja", + "x": 0.5591110498589447, + "y": 0.6369629584418403, + "width": 0.11499999298095745, + "height": 0.14933333333333337 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498635321_p10ejz58s", + "x": 0.6141110465020112, + "y": 0.7365185139973959 + } + ] + } + } + }, + { + "time": 5.018266, + "frame": 151, + "progress": 60, + "action_description": "爪夹合拢抓取银锅盖子向抓夹方向右侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧银锅盖子抬升空中。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:向爪夹方向的右侧移动，完全脱离锅的范围后开始下降。", + "progress_explanation": "银锅盖子已被抓取并成功向爪夹右侧移动，因此进度提升为60%。", + "error_success_analysis": "银锅盖子已被抓取并成功向爪夹右侧移动，方便爪夹将锅盖放在桌子上。", + "correction_plan": "向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498653865_rrr7d04y4", + "x": 0.3851110604790612, + "y": 0.37246912977430563, + "width": 0.49899996954345893, + "height": 0.5404444444444443 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498657962_hyqo623pr", + "x": 0.6241110458916597, + "y": 0.4289629584418403, + "width": 0.10999999328613334, + "height": 0.11733333333333336 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498661289_8u6st4oi8", + "x": 0.6861110421074803, + "y": 0.5071851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取银锅盖子持续向抓夹方向右侧移动靠近桌子边缘。", + "correction_plan": "爪夹抓取银锅盖子下降放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹抓取银锅盖子向爪夹右侧移动，靠近桌子边缘，方便下降。", + "frame": 180, + "progress": 70, + "progress_explanation": "爪夹抓取银锅盖子向爪夹右侧移动，靠近桌子边缘，方便下降，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧银锅盖子靠近桌子边缘。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:爪夹抓取锅盖靠近桌子边缘。", + "time": 6.012889563956943, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498686801_rdthpasku", + "x": 0.7461110384453711, + "y": 0.35646912977430556, + "width": 0.0959999941406254, + "height": 0.08000000000000003 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498690985_gtttgrgiz", + "x": 0.3891110602349206, + "y": 0.3720740695529514, + "width": 0.48799997021484565, + "height": 0.5493333333333333 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": 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"point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498715152_anbls175y", + "x": 0.8041110349053323, + "y": 0.5071851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹松开，银锅盖子放在桌子上，爪夹抬升至空中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，银锅盖子被放在桌子上后，爪夹微微抬升。", + "frame": 230, + "progress": 100, + "progress_explanation": "爪夹松开，银锅盖子被放在桌子上后，爪夹微微抬升，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，已完成当前状态为爪夹合拢，银锅盖子放在桌子上。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:锅盖被放在桌子上，爪夹抬升至空中。", + "time": 7.656325819310151, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498742295_qfgn2iy2g", + "x": 0.7421110386895118, + "y": 0.48091357421875, + "width": 0.08399999487304717, + "height": 0.08177777777777785 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498746338_59iq6ywwt", + "x": 0.38811106029595577, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json new file mode 100644 index 0000000000000000000000000000000000000000..64196fc47a5a633463ec35a53c7a0d77939ebdeb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json @@ -0,0 +1,474 @@ +{ + "task_description": "将物体移到杯子上面。\n爪夹开始移动:0%\n爪夹靠近物体:30%\n爪夹夹起物体:50%\n爪夹移动物体 :70%\n爪夹将物体移动到杯子上:90%\n爪夹松开，物体放在杯子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的右前方移动到达物体的上方后下降，抓\n取物体后竖直上升，向爪夹的左侧移动，直至\n到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触物体。\n为完成将物体移到杯子上面的任务应当:调整夹爪角度，使其垂直于桌面，然后向爪夹方向的右前方移动，靠近物体。", + "time": 1.2, + "annotations": { + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513289562_58n5vzszc", + "x": 0.662111043572324, + "y": 0.6845185139973958, + "width": 0.057999996459961164, + "height": 0.14755555555555563 + } + ] + }, + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513292905_4jqtajqqp", + "x": 0.4891110541314053, + "y": 0.6394814724392361, + "width": 0.08499999481201206, + "height": 0.16355555555555554 + } + ] + }, + "point_1767513268114": { + "type": "point", + "instances": [ + { + "id": "point_1767513268114_1767513295778_wd7ut5tqm", + "x": 0.38411106054009636, + "y": 0.312370361328125 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513298466_bjioowq60", + "x": 0.4021110594414636, + "y": 0.280370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹向下调整角度移动，准备开始靠近杯子。", + "correction_plan": "向爪夹方向的右前方移动到达物体的上方后下降，抓取物体后竖直上升，向爪夹的左侧移动，直至到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "爪夹处于张开状态，调整爪夹角度，向下移动，方便向物体移动靠近，合拢抓取。", + "frame": 26, + "progress": 10, + "progress_explanation": "目前爪夹处于张开状态，调整爪夹角度，向下移动，方便向物体移动靠近，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，向下调整角度准备开始移动。\n为完成将物体移到杯子上面的任务应当:调整夹爪角度，使其垂直于桌面，然后向爪夹方向的右前方移动，靠近物体。", + "time": 1.7333333333333334, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513322129_4qge2qru0", + "x": 0.4871110542534757, + "y": 0.6363209771050347, + "width": 0.08699999468994175, + "height": 0.17066666666666666 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513325529_ugp77lqgn", + "x": 0.6651110433892184, + "y": 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"bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513348527_fksdw4v5l", + "x": 0.49011105407037026, + "y": 0.6416543104383681, + "width": 0.07999999511718778, + "height": 0.1635555555555554 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513352065_m3fv8zjvp", + "x": 0.662111043572324, + "y": 0.680370361328125, + "width": 0.05499999664306658, + "height": 0.15466666666666662 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513356864_74r621i05", + "x": 0.4821110545586514, + "y": 0.5221481391059027 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动靠近杯子。", + "correction_plan": "重新调整爪夹角度，向爪夹方向的右前方移动到达物体的上方后下降，抓取物体后竖直上升，向爪夹的左侧移动，直至到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作。", + "frame": 50, + "progress": -20, + "progress_explanation": "目前爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作，所以进度倒退为-20%。", + "state_description": "当前状态为爪夹打开，持续向下移动靠近杯子。\n为完成将物体移到杯子上面的任务应当:重新调整夹爪角度，向爪夹方向的右前方移动，靠近物体，方便抓取物体。", + "time": 3.3333333333333335, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513398222_ulpb2zg46", + "x": 0.48611105431451074, + "y": 0.6452098659939236, + "width": 0.08699999468994175, + "height": 0.15822222222222224 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513401343_adesyb6tz", + "x": 0.6621110435723239, + "y": 0.6839259168836805, + "width": 0.057999996459961164, + "height": 0.1528888888888888 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513405704_4s414b6mi", + "x": 0.48311105449761627, + "y": 0.5239259168836806 + } + ] + } + } + }, + { + "action_description": "爪夹持续向下移动靠近杯子。", + "correction_plan": "重新调整爪夹角度，向爪夹方向的右前方移动到达物体的上方后下降，抓取物体后竖直上升，向爪夹的左侧移动，直至到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作。", + "frame": 129, + "progress": -30, + "progress_explanation": "目前爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作，所以进度倒退为-30%。", + "state_description": "当前状态为爪夹打开，持续向下移动靠近杯子。\n为完成将物体移到杯子上面的任务应当:重新调整夹爪角度，向爪夹方向的右前方移动，靠近物体，方便抓取物体。", + "time": 4.284726697317807, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513424151_qdipwlt7z", + "x": 0.4931110538872647, + "y": 0.6452098659939236, + "width": 0.07999999511718778, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513427334_502ursty3", + "x": 0.6601110436943942, + "y": 0.6785925835503472, + "width": 0.05999999633789095, + "height": 0.16000000000000006 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513430917_i5apk9sgt", + "x": 0.5131110526665617, + "y": 0.6092592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹持续向下移动贴近杯子。", + "correction_plan": "重新调整爪夹角度，向爪夹方向的右前方移动到达物体的上方后下降，抓取物体后竖直上升，向爪夹的左侧移动，直至到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作。", + "frame": 152, + "progress": -40, + "progress_explanation": "目前爪夹处于张开状态，向下移动靠近杯子，远离物体，与上一阶段相比，多了一次重新调整爪夹角度，向抓夹方向右侧移动靠近物体的动作，所以进度倒退为-40%。", + "state_description": "当前状态为爪夹打开，持续向下移动靠近杯子。\n为完成将物体移到杯子上面的任务应当:重新调整夹爪角度，向爪夹方向的右前方移动，靠近物体，方便抓取物体。", + "time": 5.067200908907049, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513474734_3nyt8scd0", + "x": 0.491111054009335, + "y": 0.6505431993272569, + "width": 0.08199999499511748, + "height": 0.1528888888888891 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + 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"当前状态为爪夹合拢，没成功抓取杯子。\n为完成将物体移到杯子上面的任务应当:重新张开爪夹，向爪夹方向的右侧移动，然后下降靠近物体，方便抓取物体。", + "time": 6.410843494464332, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513576332_cff6y781r", + "x": 0.4931110538872647, + "y": 0.6434320882161458, + "width": 0.08099999505615267, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513579467_d7a3vyq98", + "x": 0.6601110436943942, + "y": 0.6839259168836805, + "width": 0.05899999639892606, + "height": 0.15111111111111106 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513582931_8x2xzakq0", + "x": 0.5211110521782805, + "y": 0.561259250217014 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向上移动到爪夹的原位。", + "correction_plan": "向爪夹方向的右前方移动到达物体的上方后下降，抓取物体后竖直上升，向爪夹的左侧移动，直至到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "爪夹处于张开状态，爪夹向上移动返回原位，与上一阶段相比，可以直接向爪夹方向右侧移动靠近物体的动作。", + "frame": 214, + "progress": 0, + "progress_explanation": "目前爪夹处于张开状态，爪夹向上移动返回原位，与上一阶段相比，可以直接向爪夹方向右侧移动靠近物体的动作，所以进度提升为0%。", + "state_description": "当前状态为爪夹张开，远离物体。\n为完成将物体移到杯子上面的任务应当:重新调整爪夹，向爪夹方向的右侧移动，然后下降靠近物体，方便抓取物体。", + "time": 7.12218368681819, + "annotations": { + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513606418_ie76qbnue", + "x": 0.4941110538262296, + "y": 0.6398765326605903, + "width": 0.07999999511718778, + "height": 0.16177777777777788 + } + ] + }, + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513610314_mpj5mroq1", + "x": 0.6631110435112888, + "y": 0.6821481391059028, + "width": 0.055999996582031475, + "height": 0.15111111111111114 + } + ] + }, + "point_1767513268114": { + "type": "point", + "instances": [ + { + "id": "point_1767513268114_1767513615851_27sthbwyf", + "x": 0.4701110552910732, + "y": 0.4314814724392362 + } 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0000000000000000000000000000000000000000..801b2f89c840848ac82e88837f61b814a810ec1e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009071.json @@ -0,0 +1,303 @@ +{ + "task_description": "关上顶部的门。\n爪夹开始移动:0%\n爪夹靠近门:30%\n爪夹贴近门:50%\n爪夹推动门 :70%\n爪夹将门关上:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其向爪夹方向的下方移动贴近门，推着门向爪夹方向的前方移动，直至将门关上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触门。\n为完成关上顶部的门的任务应当:调整夹爪角度，使其垂直于地面，然后向下移动，靠近门。", + "time": 1.0346540755264075, + "annotations": { + "bbox_1767520133064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520133064_1767520165182_6ok9ywen5", + "x": 0.2131110709771075, + "y": 0.23632096354166668, + "width": 0.189999988403321, + "height": 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"爪夹推着门持续向爪夹方向的前方移动，直至将门关上。", + "error_success_analysis": "爪夹推着门，持续向爪夹方向前方推动，直至将其关上。", + "frame": 97, + "progress": 70, + "progress_explanation": "目前爪夹推着门，向爪夹方向前方推动，直至将其关上，所以进度提升为70%。", + "state_description": "当前状态为爪夹打开，推着门。\n为完成关上顶部的门的任务应当:爪夹持续向爪夹方向前方推动门将其关上。", + "time": 6.466666666666667, + "annotations": { + "bbox_1767520133064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520133064_1767520228462_tsr1kf170", + "x": 0.37911106084527213, + "y": 0.232370361328125, + "width": 0.07999999511718783, + "height": 0.22755555555555557 + } + ] + }, + "point_1767520138024": { + "type": "point", + "instances": [ + { + "id": "point_1767520138024_1767520231767_zboqh9wfm", + "x": 0.3511110625542564, + "y": 0.3354814724392361 + } + ] + }, + "point_1767520146184": { + "type": "point", + "instances": [ + { + "id": "point_1767520146184_1767520234599_yvve3uht1", + "x": 0.41011105895318234, + "y": 0.26792591688368056 + } + ] + } + } + }, + { + "action_description": "爪夹推着门将其关上。", + "correction_plan": "", + "error_success_analysis": "至此任务成功完成。", + "frame": 125, + "progress": 100, + "progress_explanation": "目前爪夹已完成关上顶部的门的动作，所以进度提升为100%。", + "state_description": "当前状态为爪夹打开，将门关上。\n已完成关上顶部的门的任务。", + "time": 8.333333333333334, + "annotations": { + "point_1767520146184": { + "type": "point", + "instances": [ + { + "id": "point_1767520146184_1767520239470_i5yf7hgot", + "x": 0.4571110560845303, + "y": 0.2874814724392361 + } + ] + }, + "point_1767520138024": { + "type": "point", + "instances": [ + { + "id": "point_1767520138024_1767520242853_5k8hkbbyb", + "x": 0.4181110584649012, + "y": 0.312370361328125 + } + ] + }, + "bbox_1767520133064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520133064_1767520246724_05brbey66", + "x": 0.3771110609673424, + "y": 0.24659258355034722, + "width": 0.1369999916381841, + "height": 0.19555555555555554 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767520133064", + "name": "门", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767520138024", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767520146184", + "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_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee48e5fd8705c644f92b2b135eec97abfac3693 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json @@ -0,0 +1,458 @@ +{ + "task_description": "把那条橙色的毛巾移到左边。\n爪夹开始移动:0%\n爪夹靠近橙色毛巾:30%\n爪夹贴着橙色毛巾:50%\n爪夹移动橙色毛巾:70%\n爪夹将橙色毛巾放在桌子左边:90%\n爪夹松开，橙色毛巾放在桌子左边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，向下移动使其垂直于桌面，然后向爪夹右侧移动，靠近橙色毛巾，贴着毛巾向爪夹方向左侧推动，直至到达桌子边缘，然后抬起爪夹。", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触毛巾。\n为完成把那条橙色的毛巾移到左边的任务应当:调整夹爪角度，向下移动使其垂直于桌面。", + "time": 1.8979759367320936, + "annotations": { + "bbox_1767581561628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581561628_1767581613427_nn3p24tji", + "x": 0.5581110499199798, + "y": 0.44985184733072914, + "width": 0.1519999907226568, + "height": 0.16355555555555562 + } + ] + }, + "bbox_1767581594638": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581594638_1767581618931_7p3fvzqbf", + "x": 0.2871110664605062, + "y": 0.2892592502170139, + "width": 0.5069999690551777, + "height": 0.6115555555555555 + } + ] + } + } + }, + { + "action_description": "调整爪夹角度微微向下移动。", + "correction_plan": "爪夹向爪夹方向右侧移动，靠近橙色毛巾，贴着毛巾向爪夹方向左侧推动，直至到达桌子边缘，然后抬起爪夹。", + "error_success_analysis": "爪夹调整角度向下移动，准备向爪夹右侧移动，方便靠近毛巾。", + "frame": 71, + "progress": 10, + "progress_explanation": "目前爪夹调整角度向下移动，准备向爪夹右侧移动，方便靠近毛巾，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，调整爪夹角度。\n为完成把那条橙色的毛巾移到左边的任务应当:持续向下移动靠近桌子，然后向爪夹右侧移动，靠近橙色毛巾。", + "time": 2.359006808753649, + "annotations": { + "bbox_1767581594638": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581594638_1767581639491_a44ctd8v0", + "x": 0.28411106664361163, + "y": 0.30209875488281246, + "width": 0.5059999691162127, + "height": 0.6008888888888889 + } + ] + }, + "bbox_1767581561628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581561628_1767581642379_7n3s6mzdf", + "x": 0.5601110497979096, + "y": 0.4421481391059027, + "width": 0.150999990783692, + "height": 0.17244444444444448 + } + ] + }, + "point_1767581575532": { + "type": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009691.json @@ -0,0 +1,347 @@ +{ + "task_description": "打开水龙头。\n爪夹开始移动:0%\n爪夹靠近水龙头:30%\n爪夹夹取水龙头:50%\n爪夹推动水龙头:70%\n爪夹松开，水龙头成功打开:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767591504036": { + "instances": [ + { + "height": 0.096, + "id": "bbox_1767591504036_1767591531251_6cceejyti", + "width": 0.057999996459961164, + "x": 0.5121110527275968, + "y": 0.31651851399739583 + } + ], + "type": "bbox" + }, + "point_1767591510124": { + "instances": [ + { + "id": "point_1767591510124_1767591535347_i299b907y", + "x": 0.48811105419244055, + "y": 0.2750370279947917 + } + ], + "type": "point" + }, + "point_1767591515356": { + "instances": [ + { + "id": "point_1767591515356_1767591538163_wjpq6po17", + "x": 0.5181110523613859, + "y": 0.2661481391059028 + } + ], + "type": "point" + } + }, + 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{ + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动至红色物体正上方，爪夹垂直下降靠近红色物体，爪夹夹取红色物体，爪夹抓取红色物体向爪夹右上方移动接近桌子边缘，爪夹向爪夹方向右下方移动至桌子边缘，爪夹松开，红色物体被放至桌子边缘。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取红色物体防止桌子边缘的任务应当：爪夹向爪夹前方移动至红色物体正上方。", + "time": 0.3877663386597938, + "annotations": { + "point_1766800407418": { + "type": "point", + "instances": [ + { + "id": "point_1766800407418_1766800732872_saszg2fo3", + "x": 0.6765000000000001, + "y": 0.624 + } + ] + }, + "point_1766800407545": { + "type": "point", + "instances": [ + { + "id": "point_1766800407545_1766800734856_ny6ovuttr", + "x": 0.7285, + "y": 0.6008888888888889 + } + ] + }, + "bbox_1766800406398": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406398_1766800738984_fxogs07t1", + "x": 0.4605, + "y": 0.4444444444444444, + "width": 0.03199999999999994, + "height": 0.06755555555555554 + } + ] 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"error_success_analysis": "当前爪夹成功抓取红色物体。", + "frame": 87, + "progress": 40, + "progress_explanation": "当前爪夹合拢夹取红色物体，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取红色物体，为完成抓取红色物体防止桌子边缘的任务应当：爪夹抓取红色物体向爪夹方向右上方移动直至接近桌子边缘。", + "time": 5.8, + "annotations": { + "bbox_1766800406528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406528_1766800615431_ug2q7g51n", + "x": 0.006500000000000001, + "y": 0.26844444444444443, + "width": 0.593, + "height": 0.6968888888888887 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取红色物体向爪夹方向右上方移动直至接近桌子边缘。", + "correction_plan": "爪夹向爪夹方向右下方移动至桌子边缘，爪夹松开，红色物体被放至桌子边缘。", + "error_success_analysis": "当前爪夹成功夹取红色物体并靠近桌子边缘。", + "frame": 197, + "progress": 60, + "progress_explanation": "当前爪夹抓取红色物体向爪夹方向右上方移动直至接近桌子边缘。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢夹取红色物体，此时爪夹水平距离接近桌子边缘。为完成抓取红色物体防止桌子边缘的任务应当：爪夹向爪夹方向右下方移动至桌子边缘。", + "time": 6.57498308298969, + "annotations": { + "point_1766800407418": { + "type": "point", + "instances": [ + { + "id": 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"当前爪夹合拢抓取红色物体向爪夹方向右下方移动至桌子边缘。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功下降至桌子边缘。", + "correction_plan": "爪夹松开，红色物体被放至桌子边缘。", + "annotations": { + "point_1766800407418": { + "type": "point", + "instances": [ + { + "id": "point_1766800407418_1766800504624_0tugh2m9c", + "x": 0.5685, + "y": 0.5137777777777778 + } + ] + }, + "point_1766800407545": { + "type": "point", + "instances": [ + { + "id": "point_1766800407545_1766800507334_dat4a7uw5", + "x": 0.5795, + "y": 0.5084444444444445 + } + ] + }, + "bbox_1766800406528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406528_1766800531330_zhh4uq40v", + "x": 0.0025, + "y": 0.27911111111111114, + "width": 0.6009999999999999, + "height": 0.6968888888888888 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，红色物体被防止桌子边缘。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将红色物体放至桌子边缘。", + "frame": 122, + "progress": 100, + "progress_explanation": "当前红色物体已被放至桌子边缘。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，红色物体被防止桌子边缘。已完成抓取红色物体放至桌子边缘的任务。", + "time": 8.2, + "annotations": { + "point_1766800407418": { + "type": "point", + "instances": [ + { + "id": "point_1766800407418_1766800461112_os8443act", + "x": 0.5515, + "y": 0.4995555555555556 + } + ] + }, + "point_1766800407545": { + "type": "point", + "instances": [ + { + "id": "point_1766800407545_1766800463422_yckmdeado", + "x": 0.5885, + "y": 0.5155555555555555 + } + ] + }, + "bbox_1766800406528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406528_1766800479693_le89u79tn", + "x": 0.0035000000000000144, + "y": 0.27911111111111114, + "width": 0.6, + "height": 0.6808888888888889 + } + ] + }, + "bbox_1766800406398": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406398_1766800497574_mpfc7qtk1", + "x": 0.5635, + "y": 0.48355555555555557, + "width": 0.01800000000000006, + "height": 0.04977777777777774 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766800406398", + "name": "红色物体", + "color": "#4CAF50" + }, + { + "id": "bbox_1766800406528", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766800407418", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766800407545", + "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_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000169.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..7bdb3d9ae9c81d163dc85585ee59d24ddc525083 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000169.json @@ -0,0 +1,382 @@ +{ + "task_description": "抓取茶杯放至茶杯右侧桌面上：\n爪夹准备移动：0%\n爪夹靠近茶杯：20%\n爪夹夹取茶杯：40%\n爪夹抓取茶杯接近茶杯右侧桌面：60%\n爪夹抓取茶杯下降至茶杯右侧桌面：80%\n爪夹松开，茶杯被放至茶杯右侧桌面上：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹方向前方移动至茶杯正上方，爪夹垂直下降靠近茶杯，爪夹合拢抓取茶杯向爪夹方向右边移动直至接近茶杯右侧桌面，爪夹向爪夹方向右下方移动至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹静止不动。因此当前进度为0%。", + "state_description": "爪夹张开，爪夹静止不动。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹向爪夹方向前方移动至杯子正上方。", + "time": 0.5333333333333333, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803989633_x7u50mc6r", + "x": 0.6955, + "y": 0.20977777777777776 + } + ] + }, + "point_1766803535653": { + "type": "point", + "instances": [ + { + "id": "point_1766803535653_1766803992389_3bha56dou", + "x": 0.6735, + "y": 0.192 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766804001439_sjd8dclc0", + "x": 0.47250000000000003, + "y": 0.4177777777777777, + "width": 0.10499999999999998, + "height": 0.16000000000000006 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766804012197_lqsshvtbc", + "x": 0.0015, + "y": 0.45688888888888884, + "width": 0.942, + "height": 0.5013333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动至茶杯正上方。", + "correction_plan": "爪夹下降至杯壁两侧准备抓取茶杯，爪夹合拢抓取茶杯向爪夹方向右边移动直至接近茶杯右侧桌面，爪夹向爪夹方向右下方移动至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "当前爪夹成功向前移动来到茶杯正上方。", + "frame": 43, + "progress": 10, + "progress_explanation": "此时爪夹位于茶杯正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与桌面垂直。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹下降至杯壁两侧准备抓取茶杯。", + "time": 1.4254639175257733, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803952651_c7ofargno", + "x": 0.5105000000000001, + "y": 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"当前爪夹张开，爪夹准备抓取茶杯，为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹合拢抓取茶杯。", + "time": 2.3236082474226802, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803922928_ci157ssgg", + "x": 0.4545, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803928781_1mjp0a4f1", + "x": 0.4765, + "y": 0.4248888888888889, + "width": 0.10200000000000005, + "height": 0.14577777777777776 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803934533_cbk662fhw", + "x": -0.0015000000000000013, + "y": 0.47111111111111115, + "width": 0.9440000000000002, + "height": 0.48177777777777775 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取茶杯准备向爪夹方向右上方移动。", + "correction_plan": "爪夹合拢抓取茶杯向爪夹方向右边移动直至接近茶杯右侧桌面，爪夹向爪夹方向右下方移动至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "当前爪夹成功抓取茶杯。", + "frame": 94, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取茶杯。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取茶杯。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹抓取茶杯向爪夹方向右上方移动直至接近茶杯右侧桌面。", + "time": 3.1401030927835047, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803865901_b2odi6tez", + "x": 0.4774999999999999, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803897803_v9s722qzs", + "x": 0.4665, + "y": 0.4177777777777777, + "width": 0.11200000000000002, + "height": 0.1440000000000001 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803909469_fuxhiq5dv", + "x": 0.0035000000000000005, + "y": 0.44266666666666665, + "width": 0.9390000000000001, + "height": 0.5155555555555555 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取茶杯向爪夹右上方移动直至接近茶杯右侧桌面。", + "correction_plan": "爪夹垂直下降至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "当爪夹夹取茶杯成功接近茶杯右侧桌面。", + "frame": 67, + "progress": 60, + "progress_explanation": "当前爪夹合拢抓取茶杯，此时爪夹与茶杯右侧水平距离接近。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取茶杯，此时爪夹与茶杯右侧水平距离接近。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹抓取茶杯垂直下降至茶杯右侧桌面。", + "time": 4.466666666666667, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803827773_hiw3jxd7f", + "x": 0.4755, + "y": 0.4657777777777778 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803833916_7gxfk2mic", + "x": 0.47350000000000014, + "y": 0.37333333333333335, + "width": 0.07899999999999982, + "height": 0.11733333333333336 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803852226_s05fjy9zz", + "x": 0.0024999999999999996, + "y": 0.4426666666666667, + "width": 0.9410000000000001, + "height": 0.5173333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取茶杯垂直下降至茶杯右侧桌面。", + "correction_plan": "松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "爪夹成功抓取茶杯移动到茶杯右侧桌面上。", + "frame": 77, + "progress": 80, + "progress_explanation": "爪夹合拢抓取茶杯垂直下降至茶杯右侧桌面。因此当前进度提升至80%。", + "state_description": "茶杯合拢抓取茶杯，此时茶杯位于茶杯右侧桌面上。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹松开，茶杯被放至茶杯右侧桌面上。", + "time": 5.133333333333334, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803776085_x61ux54ng", + "x": 0.4795, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803784275_p9pw95d8o", + "x": 0.47650000000000003, + "y": 0.40177777777777784, + "width": 0.07799999999999993, + "height": 0.1191111111111111 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803811493_06s3s4hje", + "x": 0.0035000000000000005, + "y": 0.44088888888888894, + "width": 0.9359999999999999, + "height": 0.5173333333333332 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，茶杯被放至茶杯右侧桌面上，随后爪夹上升离开。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将茶杯放至茶杯右侧桌面上。", + "frame": 195, + "progress": 100, + "progress_explanation": "当前爪夹松开，茶杯被放至茶杯右侧桌面上。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，茶杯被放至茶杯右侧桌面上。已完成抓取茶杯放至茶杯右侧桌面上的任务。", + "time": 6.514948453608247, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803710127_xjrntnk3w", + "x": 0.48950000000000005, + "y": 0.3288888888888889 + } + ] + }, + "point_1766803535653": { + "type": "point", + "instances": [ + { + "id": "point_1766803535653_1766803712651_ju2qsemdl", + "x": 0.5425, + "y": 0.304 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803725913_g8x8m0lt9", + "x": 0.47050000000000003, + "y": 0.39644444444444443, + "width": 0.08399999999999999, + "height": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..7c2eebe4a1841b9050260a3647457e3d5efea873 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000174.json @@ -0,0 +1,401 @@ +{ + "task_description": "抓取门把手打开文件柜门：\n爪夹准备移动：0%\n爪夹靠近柜门把手：20%\n爪夹夹取柜门把手：40%\n爪夹抓取柜门把手向爪夹后方拉动：60%\n爪夹抓取柜门把手向爪夹后方拉动即将完全拉开：80%\n爪夹抓取柜门把手向爪夹后方拉动将柜门完全拉开：100%", + "progress_points": [ + { + "action_description": "此时爪夹在屏幕外，爪夹未开始移动。", + "correction_plan": "爪夹向爪夹前方移动靠近柜门，爪夹继续向前移动靠近柜门把手，爪夹夹取柜门把手，爪夹夹取贵门把手向爪夹方向后方拉扯，爪夹抓取贵门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹在屏幕外，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹在屏幕外，爪夹准备移动。抓取门把手打开文件柜门：爪夹向爪夹前方移动靠近柜门把手。", + "time": 0.6004123711340207, + "annotations": { + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814910164_uqmrt1ab7", + "x": 0.5755, + "y": 0.5671111111111111, + "width": 0.137, + "height": 0.23466666666666663 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹前方移动并调整爪夹与柜门之间水平角度使其垂直于柜门，爪夹继续向爪夹方向前方移动靠近柜门，爪夹继续向前移动靠近柜门把手，爪夹夹取柜门把手，爪夹夹取贵门把手向爪夹方向后方拉扯，爪夹抓取贵门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动。", + "frame": 29, + "progress": 10, + "progress_explanation": "当前爪夹张开向爪夹方向前方移动。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与桌子水平角度呈30度角。抓取门把手打开文件柜门：爪夹向爪夹前方移动并调整爪夹与柜门的水平角度，使其垂直于柜门。", + "time": 1.9333333333333333, + "annotations": { + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814884098_mwqml2j63", + "x": 0.6235, + "y": 0.8533333333333333 + } + ] + }, + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814886001_dydabrhv6", + "x": 0.6595, + "y": 0.8782222222222222 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814893583_pe0rxy2y1", + "x": 0.5775, + "y": 0.5706666666666667, + "width": 0.13899999999999996, + "height": 0.23644444444444462 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向前方移动并调整爪夹与柜门之间的水平角度。", + "correction_plan": "爪夹向爪夹前方移动并调整爪夹与柜门之间水平角度使其垂直于柜门，爪夹继续向爪夹方向前方移动靠近柜门，爪夹继续向前移动靠近柜门把手，爪夹夹取柜门把手，爪夹夹取贵门把手向爪夹方向后方拉扯，爪夹抓取贵门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "当前爪夹调整爪夹与柜门之间的水平距离使爪夹更加接近柜门把手。", + "frame": 44, + "progress": 13, + "progress_explanation": "当前爪夹张开向爪夹方向前方移动并调整爪夹与柜门之间的水平角度还未完全调整好爪夹。因此当前进度提升至13%。", + "state_description": "当前爪夹张开，爪夹与柜门水平角度呈60度角。抓取门把手打开文件柜门：爪夹向爪夹方向上方移动使爪夹开口正对柜门把手。", + "time": 2.933333333333333, + "annotations": { + "point_1766814623469": { + "type": "point", + 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"当前爪夹张开，此时爪夹与柜门之间水平角度呈60度角。抓取门把手打开文件柜门：爪夹向爪夹方向前方移动直至靠近柜门把手。", + "time": 4.666666666666667, + "annotations": { + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814839643_aekln5xxy", + "x": 0.6775, + "y": 0.6915555555555556 + } + ] + }, + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814842621_sa2g69j1t", + "x": 0.6965, + "y": 0.7448888888888889 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814848543_vkin5m2az", + "x": 0.5755, + "y": 0.5688888888888889, + "width": 0.137, + "height": 0.2275555555555556 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动直至靠近柜门把手。", + "correction_plan": "爪夹夹取柜门把手，爪夹夹取柜门把手向爪夹方向后方拉扯，爪夹抓取柜门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "爪夹向爪夹方向移动成功靠近柜门把手。", + "frame": 204, + "progress": 20, + "progress_explanation": "当前爪夹张开，爪夹靠近柜门把手。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，爪夹靠近柜门把手。为完成抓取门把手打开文件柜门的任务应当：爪夹合拢抓取柜门把手准备向爪夹方向后方拉扯。", + "time": 6.802474226804124, + "annotations": { + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814811582_oehq2umyf", + "x": 0.6595, + "y": 0.7253333333333334 + } + ] + }, + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814813709_hyd0lmchp", + "x": 0.6645000000000001, + "y": 0.7733333333333334 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814822507_o6uk9ceda", + "x": 0.5755, + "y": 0.5653333333333334, + "width": 0.14100000000000001, + "height": 0.23822222222222228 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取柜门把手并准备向爪夹方向后方拉扯。", + "correction_plan": "爪夹抓取柜门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "当前爪夹合拢成功抓取柜门把手，并且准备向爪夹方向后方移动拉扯柜门。", + "frame": 112, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取柜门把手并准备向爪夹方向后方拉扯。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取门把手，为完成抓取门把手打开文件柜门的任务应当：爪夹抓取柜门把手向爪夹方向后方拉扯。", + "time": 7.466666666666667, + "annotations": { + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814793498_ntg5t5d52", + "x": 0.6695, + "y": 0.7484444444444445 + } + ] + }, + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814795810_2qlqa3ywv", + "x": 0.6605000000000001, + "y": 0.7235555555555556 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814803944_fzc1cao88", + "x": 0.5755, + "y": 0.5706666666666667, + "width": 0.13900000000000007, + "height": 0.22933333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取柜门把手并向爪夹方向后方拉扯柜门。", + "correction_plan": "爪夹抓取柜门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "当前爪夹成功向抓夹方向后方拉扯柜门。", + "frame": 259, + "progress": 60, + "progress_explanation": "爪夹抓取柜门把手向爪夹后方拉动，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢。为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹方向后方继续拉扯柜门。", + "time": 8.649896907216494, + "annotations": { + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814775770_r9gxi7olj", + "x": 0.6615, + "y": 0.7431111111111111 + } + ] + }, + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814777779_xoezbqphy", + "x": 0.6905, + "y": 0.7697777777777778 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814783047_0o4fp0c4j", + "x": 0.5825, + "y": 0.5760000000000001, + "width": 0.16099999999999995, + "height": 0.24533333333333332 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开，爪夹左钩住柜门把手向爪夹方向后方拉扯柜门，当前柜门即将完全拉开。", + "correction_plan": "爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "爪夹成功向爪夹方向后方拉扯并拉开柜门。", + "frame": 148, + "progress": 80, + "progress_explanation": "当前爪夹张开，爪夹左钩住柜门把手向爪夹方向后方拉扯柜门，当前柜门即将完全拉开。因此当前进度提升至80%。", + "state_description": "当前爪夹张开，爪夹左钩住柜门。为完成抓取门把手打开文件柜门的任务应当：爪夹左钩住柜门继续向抓夹方向后方拉扯将柜门完全拉开。", + "time": 9.866666666666667, + "annotations": { + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814757320_cm5xpus50", + "x": 0.7365, + "y": 0.8426666666666667 + } + ] + }, + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814759669_8gd9rx7ak", + "x": 0.7045, + "y": 0.7982222222222223 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814765479_odagpu268", + "x": 0.6054999999999999, + "y": 0.5884444444444444, + "width": 0.19700000000000006, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开左钩住柜门把手向爪夹方向后方拉扯柜门将柜门完全拉开。", + "correction_plan": "", + "error_success_analysis": "当前爪夹抓取柜门把手向爪夹后方拉动陈工将柜门完全拉开。", + "frame": 329, + "progress": 100, + "progress_explanation": "当前爪夹张开，爪夹左钩住柜门把手将柜门完全拉开。当前进度提升至100%。", + "state_description": "当前爪夹张开，爪夹左钩住柜门把手将柜门完全拉开。已完成抓取门把手打开文件柜门的任务。", + "time": 10.97237113402062, + "annotations": { + "point_1766814623622": { + "type": "point", + "instances": [ + { + "id": "point_1766814623622_1766814723394_r4opd2gcc", + "x": 0.7515000000000001, + "y": 0.8835555555555555 + } + ] + }, + "point_1766814623469": { + "type": "point", + "instances": [ + { + "id": "point_1766814623469_1766814727647_54iwf9mce", + "x": 0.7215, + "y": 0.8177777777777778 + } + ] + }, + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766814622401_1766814735616_8ucahz8lc", + "x": 0.6105, + "y": 0.5955555555555556, + "width": 0.18899999999999997, + "height": 0.31288888888888894 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766814622401", + "name": "柜门", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1766814623469", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766814623622", + "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_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000491.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..c521faa69a210c4fc642dd15de6374ca6796350d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000491.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取记号笔放至桌面：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹夹取记号笔：40%\n爪夹抓取记号笔接近桌面：60%\n爪夹抓取记号笔下降至桌面：80%\n爪夹松开，记号笔被放至桌面：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹未移动。", + "correction_plan": "爪夹向爪夹方向前方移动至记号笔正上方并调整爪夹与桌面水平角度，使爪夹垂直于桌面，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动使爪夹水平距离接近桌面，爪夹垂直下降至桌面，松开夹爪将记号笔放至桌面。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成爪夹抓取记号笔放至桌面的任务应当：爪夹向爪夹前方移动并调整爪夹与桌面水平角度，使爪夹垂直于桌面。", + "time": 0.6268041237113403, + "annotations": { + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818697678_kgc0hdafo", + "x": 0.5105000000000001, + "y": 0.5102222222222222 + } + ] + }, + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818699530_kczd02edu", + "x": 0.5495, + "y": 0.5404444444444445 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818703998_9ii93qn7c", + "x": 0.5155000000000001, + "y": 0.6542222222222223, + "width": 0.04799999999999995, + "height": 0.11911111111111118 + } + ] + }, + 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-10, + "progress_explanation": "当前爪夹合拢抓取试图抓取记号笔，此时爪夹抓空。因此当前进度跌落-10%。", + "state_description": "当前爪夹合拢，爪夹抓空。为完成爪夹抓取记号笔放至桌面的任务应当：爪夹张开并下降继续抓取记号笔。", + "time": 6, + "annotations": { + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818570982_ja1u98x9s", + "x": 0.5485, + "y": 0.6471111111111111 + } + ] + }, + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818573132_iemh79759", + "x": 0.5625, + "y": 0.6542222222222223 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818581894_uaj9u74lt", + "x": 0.5215, + "y": 0.6382222222222222, + "width": 0.04300000000000006, + "height": 0.1315555555555556 + } + ] + }, + "bbox_1766818339480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339480_1766818590422_oq18dthbo", + "x": 0.4015000000000001, + "y": 0.5564444444444444, + "width": 0.597, + "height": 0.42133333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开并下降靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动使爪夹水平距离接近桌面，爪夹垂直下降至桌面，松开夹爪将记号笔放至桌面。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "frame": 109, + "progress": 20, + "progress_explanation": "当前爪夹张开并下降靠近记号笔。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔。为完成爪夹抓取记号笔放至桌面的任务应当：爪夹合拢抓取记号笔。", + "time": 7.266666666666667, + "annotations": { + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818521945_hcck16033", + "x": 0.5145000000000001, + "y": 0.6293333333333333 + } + ] + }, + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818523690_1vun0wx67", + "x": 0.5565, + "y": 0.6897777777777777 + } + ] + }, + "bbox_1766818339480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339480_1766818527995_8v09k4vlz", + "x": 0.3965, + "y": 0.5564444444444444, + "width": 0.601, + "height": 0.4320000000000001 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818564550_2vbz5c6pm", + "x": 0.5145000000000001, + "y": 0.6684444444444445, + "width": 0.03799999999999999, + "height": 0.12622222222222212 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取记号笔。", + "correction_plan": "爪夹合拢抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动使爪夹水平距离接近桌面，爪夹垂直下降至桌面，松开夹爪将记号笔放至桌面。", + "error_success_analysis": "当前爪夹成功夹取记号笔准备竖直上升。", + "frame": 259, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取记号笔。为完成爪夹抓取记号笔放至桌面的任务应当：爪夹合拢抓取记号笔竖直上升直至记号笔完全离开杯子。", + "time": 8.623505154639174, + "annotations": { + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818498138_qcpgw8di8", + "x": 0.5255, + "y": 0.6613333333333333 + } + ] + }, + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818500418_zjbnwgs58", + "x": 0.5365, + "y": 0.6755555555555556 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"state_description": "当前记号笔合拢夹取记号笔，此时记号笔垂直于桌面。为完成爪夹抓取记号笔放至桌面的任务应当：爪夹松开将记号笔放至桌面。", + "time": 11.466666666666667, + "annotations": { + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818433156_vno1mgbbl", + "x": 0.6214999999999999, + "y": 0.72 + } + ] + }, + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818435328_r0lxha14u", + "x": 0.6435000000000001, + "y": 0.7395555555555556 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818440360_jeu78v8kl", + "x": 0.6195, + "y": 0.6968888888888889, + "width": 0.03300000000000001, + "height": 0.12266666666666673 + } + ] + }, + "bbox_1766818339480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339480_1766818445078_h7hgr8rjc", + "x": 0.40249999999999997, + "y": 0.5422222222222222, + "width": 0.599, + "height": 0.42844444444444446 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，记号笔被放至桌面。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将记号笔放至桌面。", + "frame": 375, + "progress": 100, + "progress_explanation": "当前爪夹松开，记号笔被放至桌面。因此当前进度提升至100%。", + "state_description": "当前爪夹放开，记号笔被放至桌面。已完成抓取记号笔放至桌面。", + "time": 12.489896907216496, + "annotations": { + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818359223_v27bg6aau", + "x": 0.6275000000000001, + "y": 0.7911111111111111 + } + ] + }, + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818361262_i85ito7zk", + "x": 0.5845, + "y": 0.7164444444444444 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818394865_ifih900s0", + "x": 0.5645, + "y": 0.7911111111111111, + "width": 0.06800000000000006, + "height": 0.11555555555555562 + } + ] + }, + "bbox_1766818339480": { + "type": "bbox", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..a0daf62f4c3136d3cc65fbd7df2ced3dbebb7fd7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000711.json @@ -0,0 +1,444 @@ +{ + "task_description": "抓取螺丝刀放至工具柜中并关闭工具柜：\n爪夹准备移动：0%\n爪夹靠近螺丝刀：20%\n爪夹夹取螺丝刀：40%\n爪夹抓取螺丝刀接近工具柜：60%\n爪夹松开，螺丝刀被放至工具柜：80%\n爪夹关闭工具柜：100%。", + "progress_points": [ + { + "time": 0.39525774587628854, + "frame": 12, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，静止不动。为完成抓取螺丝刀放入工具柜并关闭工具柜任务应当：爪夹向爪夹前下方移动并调整爪夹与桌面水平角度是爪夹与桌面水平角度呈30度角。", + "progress_explanation": "当前爪夹张开，静止不动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前下方移动并调整爪夹与桌面水平角度是爪夹与桌面水平角度呈30度角，爪夹下降靠近螺丝刀，爪夹夹取螺丝刀并向爪夹方向后方移动直至接近工具柜，爪夹松开使螺丝刀落入工具柜，爪夹向爪夹方向右下方移动直至靠近工具柜门，爪夹向爪夹方向前方移动关闭工具柜门。", + "annotations": { + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": 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"progress_explanation": "当前张开并垂直下降。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功下降并且水平距离接近螺丝刀。", + "correction_plan": "爪夹向爪夹前方移动并调整爪夹与桌面水平角度是爪夹与桌面水平角度呈30度角，爪夹下降靠近螺丝刀，爪夹夹取螺丝刀并向爪夹方向后方移动直至接近工具柜，爪夹松开使螺丝刀落入工具柜，爪夹向爪夹方向右下方移动直至靠近工具柜门，爪夹向爪夹方向前方移动关闭工具柜门。", + "annotations": { + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": "point_1766821751926_1766822112036_bzvkx7q0r", + "x": 0.29250000000000004, + "y": 0.3928888888888889 + } + ] + }, + "point_1766821752055": { + "type": "point", + "instances": [ + { + "id": "point_1766821752055_1766822114103_koj5ibwvj", + "x": 0.3365, + "y": 0.42666666666666664 + } + ] + }, + "bbox_1766821751199": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751199_1766822118595_7f31e75tu", + "x": 0.3875, + "y": 0.3875555555555556, + "width": 0.041000000000000016, + "height": 0.05555555555555555 + } + ] + }, + "bbox_1766821751053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751053_1766822133161_830ci1bqh", + 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"progress_explanation": "当前爪夹松开，螺丝刀落入工具柜中。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功将螺丝刀放入工具柜中。", + "correction_plan": "爪夹向爪夹方向右下方移动直至靠近工具柜门，爪夹向爪夹方向前方移动关闭工具柜门。", + "annotations": { + "point_1766821752055": { + "type": "point", + "instances": [ + { + "id": "point_1766821752055_1766821995187_mrgj4c8rl", + "x": 0.34750000000000003, + "y": 0.45866666666666667 + } + ] + }, + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": "point_1766821751926_1766821997713_2dkczi5im", + "x": 0.28850000000000003, + "y": 0.448 + } + ] + }, + "bbox_1766821751199": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751199_1766822010389_zg1gvvhcd", + "x": 0.3085, + "y": 0.5262222222222223, + "width": 0.029000000000000005, + "height": 0.048 + } + ] + }, + "bbox_1766821751053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751053_1766822023577_3sheaknwb", + "x": 0.2415, + "y": 0.45866666666666667, + "width": 0.33499999999999996, + "height": 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"tags": [], + "bbox_targets": [ + { + "id": "bbox_1766821751053", + "name": "工具柜", + "color": "#4CAF50" + }, + { + "id": "bbox_1766821751199", + "name": "螺丝刀", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766821751926", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766821752055", + "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_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000149.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed6ac4cf60cb783fa8e8230d20ab19d503ffa62 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000149.json @@ -0,0 +1,424 @@ +{ + "task_description": "抓取红色气球放至盒子中：\n爪夹准备移动：0%\n爪夹靠近红色气球：20%\n爪夹夹取红色气球：40%\n爪夹抓取红色气球接近盒子：60%\n爪夹抓取红色气球下降至盒子中：80%\n爪夹松开，红色气球落入盒子：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹右前方移动并调整爪夹与桌面水平角度，使爪夹与桌面呈30度角，爪夹向爪夹方向右前方移动靠近红色气球，爪夹下降并抓取红色气球竖直上升，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取红色气球放至盒子中的任务应当：爪夹向爪夹右前方移动并调整爪夹与桌面水平角度，使爪夹与桌面呈30度角。", + "time": 0.5602405262886598, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766826149545_ekhcfk3ia", + "x": 0.6075, + "y": 0.7413333333333333 + } + ] + }, + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766826151413_wsd055obm", + "x": 0.6345, + "y": 0.6293333333333333 + } + ] + }, + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766826157208_08t6l9bbf", + "x": 0.5045, + "y": 0.6577777777777778, + "width": 0.03100000000000005, + "height": 0.07288888888888892 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766826165012_gw9z8yty4", + "x": 0.5225000000000001, + "y": 0.6506666666666667, + "width": 0.10499999999999998, + "height": 0.16888888888888892 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并调整爪夹与桌面水平角度，使爪夹与桌面呈30度角。", + "correction_plan": "爪夹向爪夹方向右前方移动靠近红色气球，爪夹下降并抓取红色气球竖直上升，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "当前爪夹成功向右前方移动并调整爪夹水平角度。", + "frame": 57, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹与桌面水平角度呈30度角。因此当前进度提升至5%。", + 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"当前爪夹向爪夹前方移动至红色气球正上方。", + "correction_plan": "爪夹向爪夹方向前方移动靠近红色气球，爪夹下降并抓取红色气球竖直上升，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使气球落入盒子中。", + "error_success_analysis": "当前爪夹成功移动至气球正上方。", + "frame": 107, + "progress": 15, + "progress_explanation": "当前爪夹向爪夹前方移动至红色气球正上方。当前进度提升至15%。", + "state_description": "当前爪夹张开，爪夹与桌面水平角度呈30度角。为完成抓取红色气球放至盒子中的任务应当：爪夹下降靠近气球。", + "time": 3.554133, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766826079896_vq9minco3", + "x": 0.5125, + "y": 0.6773333333333333 + } + ] + }, + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766826082032_rw0yq4byi", + "x": 0.5445, + "y": 0.6453333333333333 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766826092233_hlucz755o", + "x": 0.5205, + "y": 0.6542222222222223, + "width": 0.10700000000000003, + "height": 0.1671111111111111 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹前方下降靠近红色气球。", + "correction_plan": "爪夹抓取红色气球竖直上升，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使气球落入盒子中。", + "error_success_analysis": "当前爪夹张开成功靠近红色气球。", + "frame": 146, + "progress": 20, + "progress_explanation": "当前爪夹张开向爪夹前方下降靠近红色气球。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，爪夹靠近红色气球。为完成抓取红色气球放至盒子中的任务应当：爪夹合拢抓取红色气球。", + "time": 4.878590860309279, + "annotations": { + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766826053685_dwa54dw51", + "x": 0.5395000000000001, + "y": 0.6684444444444445 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766826064624_nvfkyc4bu", + "x": 0.5215, + "y": 0.656, + "width": 0.10700000000000003, + "height": 0.1671111111111111 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取红色气球。", + "correction_plan": "爪夹抓取红色气球向爪夹方向后方移动并接近盒子，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "当前爪夹成功夹取红色气球。", + "frame": 171, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取红色气球。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢，爪夹抓取红色气球准备上升。为完成抓取红色气球放至盒子中的任务应当：爪夹抓取红色气球向爪夹方向后方移动并接近盒子。", + "time": 5.704066, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766826012128_frdp4d9pa", + "x": 0.5175, + "y": 0.6613333333333333 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766826030696_wmsugr634", + "x": 0.5235000000000001, + "y": 0.6542222222222221, + "width": 0.10300000000000002, + "height": 0.1635555555555557 + } + ] + }, + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766826036335_otg25fivv", + "x": 0.5005, + "y": 0.6453333333333333, + "width": 0.03700000000000001, + "height": 0.06933333333333344 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取红色气球向爪夹方向后方移动直至接近盒子。", + "correction_plan": "爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "当前爪夹成功抓取红色气球接近盒子。", + "frame": 203, + "progress": 60, + "progress_explanation": "当前爪夹合拢抓取红色气球向爪夹方向后方移动直至接近盒子。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取红色气球，此时爪夹与盒子水平距离接近。为完成抓取红色气球放至盒子中的任务应当：爪夹向爪夹方向后上方上升直至盒子正上方。", + "time": 6.767133, + "annotations": { + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766825983088_cf39p2rpg", + "x": 0.5255000000000001, + "y": 0.624, + "width": 0.03299999999999992, + "height": 0.06044444444444442 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766825995664_zbihvrhra", + "x": 0.5215, + "y": 0.6542222222222223, + "width": 0.11000000000000006, + "height": 0.17066666666666674 + } + ] + }, + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766826017972_pw4nk5ifx", + "x": 0.5425, + "y": 0.624 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取红色气球向爪夹方向后方移动至纸盒中。", + "correction_plan": "爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "当前爪夹成功抓取红色气球至盒子中。", + "frame": 226, + "progress": 80, + "progress_explanation": "当前爪夹合拢夹取红色气球来到盒子中。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢夹取红色气球来到盒子中。为完成抓取红色气球放至盒子中的任务应当：爪夹松开使红色气球落入盒子中。", + "time": 7.536666, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766825941386_zl9ut3ina", + "x": 0.5685, + "y": 0.6702222222222223 + } + ] + }, + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766825943662_pcy64i8vt", + "x": 0.5755, + "y": 0.6702222222222223 + } + ] + }, + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766825949186_0n9m2jvwy", + "x": 0.5495, + "y": 0.6684444444444445, + "width": 0.040000000000000036, + "height": 0.06755555555555545 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766825957810_hwaxk4lp2", + "x": 0.5225, + "y": 0.6577777777777778, + "width": 0.10600000000000005, + "height": 0.16533333333333328 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，使红色气球落入盒子中。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将红色气球放入盒子中。", + "frame": 238, + "progress": 100, + "progress_explanation": "当前爪夹松开，使红色气球落入盒子中。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，红色气球落入盒子中。已完成抓取红色气球放至盒子中的任务。", + "time": 7.933333, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766825907702_v3dgmwo2i", + "x": 0.5615, + "y": 0.6826666666666666 + } + ] + }, + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766825909554_cqquvxd3c", + "x": 0.5785, + "y": 0.6737777777777778 + } + ] + }, + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766825917768_60ocgglyr", + "x": 0.5505, + "y": 0.7111111111111111, + "width": 0.041999999999999996, + "height": 0.06044444444444442 + } + ] + }, + "bbox_1766825885402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885402_1766825925252_hhdc6euck", + "x": 0.5235000000000001, + "y": 0.6613333333333333, + "width": 0.10800000000000001, + "height": 0.15288888888888888 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766825885256", + "name": "红色气球", + "color": "#4CAF50" + }, + { + "id": "bbox_1766825885402", + "name": "盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766825886178", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766825886306", + "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_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000616.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000616.json new file mode 100644 index 0000000000000000000000000000000000000000..c8ef784e6622be75290c94bb0ae7a206aabbb5d7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000616.json @@ -0,0 +1,408 @@ +{ + "task_description": "抓取勺子放入盘子中：\n爪夹准备移动：0%\n爪夹靠近勺子：20%\n爪夹夹取勺子：40%\n爪夹抓取勺子至盘子正上方：60%\n爪夹抓取勺子下降至接近盘子：80%\n爪夹松开，勺子落入盘子：100%", + "progress_points": [ + { + "action_description": "当前爪夹在屏幕外，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右边顺时针旋转并使爪夹与桌面水平角度呈30度角，爪夹向爪夹前下方移动至勺子正上方，接着爪夹继续向爪夹方向前下方移动靠近勺子，爪夹合拢抓取勺子，爪夹抓取勺子向爪夹左上方移动至盘子正上方，爪夹下降至接近盘子，爪夹松开，勺子落入盘子。", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "当前爪夹在屏幕外，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹在屏幕外，爪夹准备移动。为完成抓取勺子放入盘子中的任务应当：爪夹向爪夹方向右边顺时针旋转并使爪夹与桌面水平角度呈30度角。", + "time": 2.53529203556701, + "annotations": { + "bbox_1766826189592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766826189592_1767002114193_y12gorbsx", + "x": 0.7525000000000001, + "y": 0.5902222222222223, + "width": 0.20500000000000007, + "height": 0.24711111111111106 + } + ] + }, + "bbox_1766826189428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766826189428_1767002124575_yxjondk1u", + "x": 0.7955, + "y": 0.496, + "width": 0.12799999999999995, + "height": 0.15288888888888888 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向右边顺时针转动并调整爪夹与桌面水平角度，使其与桌面水平角度呈30度角。", + "correction_plan": "爪夹向爪夹前下方移动至勺子正上方，接着爪夹继续向爪夹方向前下方移动至勺子附近，爪夹合拢抓取勺子，爪夹抓取勺子向爪夹左上方移动至盘子正上方，爪夹下降至接近盘子，爪夹松开，勺子落入盘子。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度。", + "frame": 223, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹与桌面水平角度呈30度角。因此当前进度提升至10%。", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.wrist_image_left/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..95ec9b1ad46bbe315bb2534c51862da044a20d5a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.wrist_image_left/episode_000149.json @@ -0,0 +1,442 @@ +{ + "task_description": "抓取红色皮球放至盒子中：\n爪夹准备移动：0%\n爪夹靠近红色皮球：20%\n爪夹夹取红色皮球：40%\n爪夹抓取红色皮球接近盒子：60%\n爪夹抓取红色皮球移动至盒子正上方：80%\n爪夹松开，红色皮球落入盒子：100%", + "progress_points": [ + { + "time": 0.6093126891752578, + "frame": 18, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取红色皮球放至盒子中的任务应当：爪夹向爪夹方向左下方移动，并调整爪夹与桌面之间的水平角度，使其与桌面垂直。", + "progress_explanation": "当前爪夹张开，爪夹静止不动，因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": 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"progress_explanation": "爪夹向爪夹方向左下方移动，并调整爪夹与桌面之间的水平角度，使其与桌面垂直。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度，使爪夹接近垂直于桌面。", + "correction_plan": "爪夹向爪夹左下方移动并下降直至红色皮球正上方，爪夹垂直下降靠近红色皮球，爪夹合拢抓取红色皮球向爪夹方向前上方移动接近盒子，爪夹抓取红色皮球向爪夹方向前方移动盒子正上方，爪夹松开，使红色皮球落入盒子中。", + "annotations": { + "point_1766971994921": { + "type": "point", + "instances": [ + { + "id": "point_1766971994921_1766972323142_gt6hniysl", + "x": 0.4535, + "y": 0.6364444444444445 + } + ] + }, + "point_1766971995052": { + "type": "point", + "instances": [ + { + "id": "point_1766971995052_1766972325854_oofxs4op5", + "x": 0.7675, + "y": 0.6257777777777778 + } + ] + }, + "bbox_1766971994160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766971994160_1766972337036_e4ty4d52u", + "x": 0.3075, + "y": 0.2328888888888889, + "width": 0.301, + "height": 0.5280000000000001 + } + ] + } + } + }, + { + "time": 3.070199, + "frame": 92, + "progress": 10, + "action_description": "当前爪夹向爪夹方向左后方移动并下降至红色皮球正上方。", + "state_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001490.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001490.json new file mode 100644 index 0000000000000000000000000000000000000000..71cc86a5b6f48e43fdd4913a279e7624a8642100 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001490.json @@ -0,0 +1,458 @@ +{ + "task_description": "抓取锅盖放至台面：\n爪夹准备移动：0%\n爪夹靠近锅盖：20%\n爪夹夹取锅盖：40%\n爪夹抓取锅盖至台面正上方：60%\n爪夹抓取锅盖接近台面：80%\n爪夹松开，锅盖被放至台面：100%", + "progress_points": [ + { + "time": 0.6517525773195876, + "frame": 20, + "progress": 0, + "action_description": "当前爪夹张开爪，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取锅盖放至台面的任务应当：爪夹向爪夹方向前下方移动至锅盖正上方。", + "progress_explanation": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001537.json new file mode 100644 index 0000000000000000000000000000000000000000..8076396f1a1d0c4b0db6d04e1389769d34dabc91 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001537.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取纸巾放至空气炸锅上擦拭空气炸锅：\n爪夹准备移动：0%\n爪夹靠近纸巾：20%\n爪夹抓取纸巾40%\n爪夹抓取纸巾接近空气炸锅60%\n爪夹抓取纸巾移动至空气炸锅正上方80%\n爪夹抓取纸巾擦拭空气炸锅：100%", + "progress_points": [ + { + "time": 1.094948475773196, + "frame": 33, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取纸巾放至空气炸锅上擦拭空气炸锅的任务应当：爪夹垂直下降靠近纸巾。", + "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": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001666.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取橙色盖子放至木架上：\n爪夹准备移动：0%\n爪夹靠近橙色盖子：20%\n爪夹抓取橙色盖子40%\n爪夹抓取橙色盖子接近木架60%\n爪夹抓取橙色盖子移动至木架正上方80%\n爪夹松开，使橙色盖子落入木架：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动至橙色盖子正上方，爪夹垂直下降靠近橙色盖子，爪夹抓取橙色盖子，爪夹抓取橙色盖子竖直上升，爪夹抓取橙色盖子向爪夹方向前方移动至木架正上方，爪夹松开，使橙色盖子落入木架。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取橙色盖子放至木架上的任务应当：爪夹向爪夹方向前方移动至盖子正上方。", + "time": 0, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065371281_qotrla2xj", + "x": 0.3375, + "y": 0.3413333333333333 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": 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2.1955670103092784, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065350279_ylaavyio2", + "x": 0.5215, + "y": 0.4124444444444444 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": "point_1767065202035_1767065351895_j48huanle", + "x": 0.5445, + "y": 0.45155555555555554 + } + ] + }, + "bbox_1767065201187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201187_1767065354685_f5paot9dk", + "x": 0.5085, + "y": 0.6542222222222223, + "width": 0.03200000000000003, + "height": 0.03555555555555551 + } + ] + }, + "bbox_1767065201026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201026_1767065358429_anfyf599l", + "x": 0.5105000000000001, + "y": 0.5297777777777778, + "width": 0.11399999999999996, + "height": 0.13511111111111124 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向右下方下降至橙色盖子右侧。", + "correction_plan": "爪夹向爪夹方向左后方移动至橙色瓶盖正上方，爪夹抓取橙色盖子，爪夹抓取橙色盖子竖直上升，爪夹抓取橙色盖子向爪夹方向前方移动至木架正上方，爪夹松开，使橙色盖子落入木架。", + "error_success_analysis": "当前爪夹未能下降至盖子正上方。", + "frame": 137, + "progress": 5, + "progress_explanation": "当前爪夹张开，此时爪夹位于橙色盖子右侧。因此当前进度跌落至5%。", + "state_description": "当前爪夹张开，此时爪夹位于橙色盖子右侧。为完成抓取橙色盖子放至木架上的任务应当：爪夹向爪夹方向左后方移动至橙色瓶盖正上方。", + "time": 4.5756, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065337899_gsdp2ieuv", + "x": 0.5415, + "y": 0.6506666666666667 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": "point_1767065202035_1767065339538_0lbec9kjw", + "x": 0.5735, + "y": 0.6808888888888889 + } + ] + }, + "bbox_1767065201187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201187_1767065342557_p2wmr68kz", + "x": 0.5085, + "y": 0.6524444444444444, + "width": 0.029000000000000005, + "height": 0.04266666666666671 + } + ] + }, + "bbox_1767065201026": { + "type": "bbox", + 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"爪夹抓取橙色盖子，爪夹抓取橙色盖子竖直上升，爪夹抓取橙色盖子向爪夹方向前方移动至木架正上方，爪夹松开，使橙色盖子落入木架。", + "error_success_analysis": "当前爪夹成功调整爪夹并靠近橙色盖子。", + "frame": 288, + "progress": 20, + "progress_explanation": "当前爪夹向爪夹方向右前方略微移动并且下降，使其靠近橙色盖子。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近橙色盖子。为完成抓取橙色盖子放至木架上的任务应当：爪夹合拢抓取橙色盖子。", + "time": 9.6162, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065291079_qvjkkl2of", + "x": 0.47850000000000004, + "y": 0.6506666666666667 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": "point_1767065202035_1767065292909_8gt7ruwtm", + "x": 0.5325, + "y": 0.6826666666666666 + } + ] + }, + "bbox_1767065201187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201187_1767065296505_9u1l9s5za", + "x": 0.4925, + "y": 0.6471111111111111, + "width": 0.03799999999999999, + "height": 0.044444444444444446 + } + ] + }, + "bbox_1767065201026": { + "type": "bbox", + "instances": [ 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+ } + }, + { + "action_description": "当前爪夹抓取橙色盖子向爪夹方向前下方移动至木架正上方。", + "correction_plan": "爪夹松开，使橙色盖子落入木架。", + "error_success_analysis": "当前爪夹夹取橙色盖子成功移动至木架正上方。", + "frame": 482, + "progress": 80, + "progress_explanation": "当前爪夹抓取橙色盖子向爪夹方向前下方移动至木架正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取橙色盖子，此时爪夹位于木架正上方。为完成抓取橙色盖子放至木架上的任务应当：爪夹松开，橙色盖子落入木架。", + "time": 16.0704, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065229319_f5byokskm", + "x": 0.5605, + "y": 0.5795555555555556 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": "point_1767065202035_1767065231605_izqwjr59d", + "x": 0.5845, + "y": 0.6062222222222222 + } + ] + }, + "bbox_1767065201187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201187_1767065234531_88zb9tg6o", + "x": 0.5595, + "y": 0.5724444444444445, + "width": 0.030000000000000072, + "height": 0.040888888888888884 + } + ] + }, + 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"当前爪夹张开，爪夹与桌面水平角度呈30度角为完成爪夹抓取红色皮球放至盘子中的任务应当：爪夹向爪夹左下方移动并调整爪夹与桌面水平角度，使其垂直于桌面。", + "progress_explanation": "当前爪夹张开爪夹向爪夹方向右前方移动，此时爪夹与桌面水平角度呈30度角。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动。", + "correction_plan": "然后爪夹向爪夹方向左下方移动至红色皮球正上方并调整爪夹与桌面水平角度使其垂直于桌面，爪夹垂直下降靠近红色皮球，爪夹合拢抓取红色皮球，爪夹抓取红色皮球竖直上升，爪夹抓取红色皮球向爪夹方向右后方移动至接近盘子，爪夹抓取红色皮球向爪夹方向右后方继续移动至盘子正上方，爪夹抓取红色皮球垂直下降至盘子中，爪夹松开，红色皮球落入盘子中。", + "annotations": { + "point_1767073965567": { + "type": "point", + "instances": [ + { + "id": "point_1767073965567_1767074226079_2aoq00vh8", + "x": 0.5375, + "y": 0.13333333333333333 + } + ] + }, + "point_1767073965705": { + "type": "point", + "instances": [ + { + "id": "point_1767073965705_1767074228525_iiuyljahz", + "x": 0.5875, + "y": 0.192 + } + ] + }, + "bbox_1767073964727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767073964727_1767074231867_ifkwl637k", + "x": 0.47050000000000003, + "y": 0.5066666666666667, + "width": 0.03200000000000003, + "height": 0.06399999999999997 + } + ] + 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"bbox_1767073964589", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767073964727", + "name": "红色皮球", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767073965567", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767073965705", + "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_0004/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001824.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001824.json new file mode 100644 index 0000000000000000000000000000000000000000..5f6d459fd4684c4a3766850f56b13680587186b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001824.json @@ -0,0 +1,692 @@ +{ + "task_description": "抓取记号笔放至桌面：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹夹取记号笔：40%\n爪夹抓取记号笔至桌面正上方：60%\n爪夹抓取记号笔接近至桌面：80%\n爪夹松开，记号笔被放至桌面：100%", + "progress_points": [ + { + "action_description": "当前爪夹位于屏幕外。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢夹取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向抓夹方向左边移动至桌面正上方，爪夹夹取记号笔垂直下降直至接近桌面，爪夹松开，记号笔被放至桌面。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前爪夹位于屏幕外。因此当前进度为0%。", + "state_description": "当前爪夹位于屏幕外。为完成抓取记号笔放至桌面的任务应当：爪夹垂直下降靠近记号笔。", + "time": 1.679278350515464 + }, + { + "action_description": "当前爪夹张开向爪夹方向前下方移动。", + "annotations": { + "bbox_1767078422629": { + "instances": [ + { + "height": 0.13511111111111113, + "id": "bbox_1767078422629_1767078852815_0u8m1r52w", + "width": 0.04900000000000002, + "x": 0.4795, + "y": 0.14044444444444446 + } + ], + "type": "bbox" + }, + "bbox_1767078422767": { + "instances": [ + { + "height": 0.9280000000000002, + "id": "bbox_1767078422767_1767078860138_9ljdww4ck", + "width": 0.8099999999999999, + "x": 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"抓取黑色方块放至右侧桌面：\n爪夹准备移动：0%\n爪夹靠近黑色方块：20%\n爪夹夹取黑色方块：40%\n爪夹抓取黑色方块接近右侧桌面：60%\n爪夹抓取黑色方块下降至右侧桌面：80%\n爪夹松开，黑色方块被放至右侧桌面上：100%", + "progress_points": [ + { + "time": 1.411199, + "frame": 42, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹向爪夹左下方移动至黑色方块正上方。", + "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": "爪夹向爪夹左下方移动至黑色方块正上方，爪夹垂直下降靠近黑色方块，爪夹合拢抓取黑色方块，爪夹抓取黑色方块向右上方移动，直至水平距离接近右侧桌面，爪夹抓取黑色方块继续向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170788221_esfflm3sj", + "x": 0.2965, + "y": 0.09066666666666667 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170797027_jdpqenk1d", + "x": 0.3415, + "y": 0.44977777777777783, + "width": 0.10899999999999999, + "height": 0.1315555555555555 + } + ] + }, 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"爪夹抓取黑色方块向右上方移动直至水平距离接近右侧桌面，爪夹抓取黑色方块继续向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170690699_15qg9ymdp", + "x": 0.4025, + "y": 0.512 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170696647_cl9ge4rjg", + "x": 0.3435, + "y": 0.45688888888888884, + "width": 0.11299999999999995, + "height": 0.12088888888888892 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170715803_be80186k1", + "x": 0.3055, + "y": 0.3111111111111111, + "width": 0.6900000000000001, + "height": 0.6275555555555556 + } + ] + } + } + }, + { + "time": 4.736666, + "frame": 142, + "progress": 60, + "action_description": "当前爪夹抓取黑色方块向爪夹方向右上方移动直至接近右侧桌面。", + "state_description": "当前爪夹合拢抓取黑色方块，此时爪夹与右侧桌面水平距离接近。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹抓取黑色方块向抓夹方向右边移动至右侧桌面正上方。", + "progress_explanation": "当前爪夹抓取黑色方块向爪夹方向右上方移动直至接近右侧桌面。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取黑色方块接近右侧桌面。", + "correction_plan": "爪夹抓取黑色方块向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170657183_s43mljka6", + "x": 0.7345, + "y": 0.4 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170668705_7vykjk4mp", + "x": 0.6535, + "y": 0.3324444444444445, + "width": 0.17300000000000004, + "height": 0.12088888888888884 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170680303_f5rjvjwkl", + "x": 0.30650000000000005, + "y": 0.3128888888888889, + "width": 0.69, + "height": 0.6346666666666666 + } + ] + } + } + }, + { + "time": 4.945733, + "frame": 148, + "progress": 70, + "action_description": "当前爪夹合拢抓取黑色方块向爪夹方向右边移动至右侧桌面正上方。", + "state_description": "当前爪夹合拢抓取黑色方块，此时爪夹位于右侧桌面正上方。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹抓取黑色方块垂直下降至右侧桌面。", + "progress_explanation": "当前爪夹合拢抓取黑色方块向爪夹方向右边移动至右侧桌面正上方。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功抓取黑色方块移动至右侧桌面正上方。", + "correction_plan": "爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170620545_n7qjfhvcd", + "x": 0.8195, + "y": 0.5048888888888889 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170631813_jit74td4j", + "x": 0.7325, + "y": 0.4195555555555555, + "width": 0.19099999999999992, + "height": 0.12444444444444448 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170646671_nbcc75vhv", + "x": 0.3035, + "y": 0.30933333333333335, + "width": 0.692, + "height": 0.6471111111111111 + } + ] + } + } + }, + { + "time": 5.789071869587628, + "frame": 174, + 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0000000000000000000000000000000000000000..cf97dd2bfead98758134133a16dc0cc59b47079f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002610.json @@ -0,0 +1,304 @@ +{ + "task_description": "抓取塑料瓶放至桌面：\n爪夹准备移动：0%\n爪夹靠近塑料瓶：20%\n爪夹夹取塑料瓶：40%\n爪夹抓取塑料瓶移动至桌面正上方：60%\n爪夹抓取塑料瓶下降至桌面：80%\n爪夹松开，塑料瓶被放至桌面：100%", + "progress_points": [ + { + "time": 0.675979381443299, + "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，爪夹静止不动，为完成爪夹抓取塑料瓶放至桌面的任务应当：爪夹向爪夹方向前方移动并调整爪夹与塑料瓶之间的水平角度，使爪夹垂直于塑料瓶。", + "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": "爪夹向爪夹方向前方移动并调整爪夹与塑料瓶之间的水平角度，使爪夹垂直于塑料瓶，爪夹向爪夹前方移动靠近塑料瓶，爪夹合拢抓取塑料瓶，爪夹抓取塑料瓶后向爪夹方向后方移动至柜门外，爪夹抓取瓶子向爪夹方向左下方移动直至桌面正上方，爪夹抓取瓶子垂直下降接近桌面，爪夹抓取塑料瓶下降至桌面，爪夹松开使塑料瓶被放至桌面。", + "annotations": { + "point_1767516676390": { + "type": "point", + "instances": [ + { + "id": 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"state_description": "当前爪夹合拢抓取塑料瓶，此时塑料瓶位于桌面。为完成爪夹抓取塑料瓶放至桌面的任务应当：爪夹松开使塑料瓶被放至桌面。", + "progress_explanation": "当前爪夹夹取塑料瓶垂直下降至桌面。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取塑料瓶下降至桌面。", + "correction_plan": "爪夹松开使塑料瓶被放至桌面。" + }, + { + "time": 15.6104, + "frame": 468, + "progress": 100, + "action_description": "当前爪夹松开使塑料瓶被放至桌面。", + "state_description": "当前爪夹松开，此时塑料瓶被放至桌面。已完成爪夹抓取塑料瓶放至桌面的任务。", + "progress_explanation": "当前爪夹松开使塑料瓶被放至桌面。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将塑料瓶放至桌面。", + "correction_plan": "", + "annotations": {} + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767516675382", + "name": "塑料瓶", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767516676390", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767516676532", + "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_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002623.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002623.json new file mode 100644 index 0000000000000000000000000000000000000000..cd16534ac1d5bbebf8042e51dee8135f343a941e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002623.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取白板放至塑料容器顶部：\n爪夹准备移动：0%\n爪夹靠近白板：20%\n爪夹夹取白板：40%\n爪夹抓取白板接近塑料容器顶部：60%\n爪夹抓取白板下降至塑料容器顶部：80%\n爪夹松开，白板被放至塑料容器顶部：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向左前方移动至白板正上方，爪夹垂直下降靠近白板，爪夹合拢抓取白板，爪夹抓取白板向爪夹左上方移动，爪夹抓取白板向爪夹方向右下方移动至塑料容器顶部正上方，爪夹抓取白板垂直下降至塑料容器顶部，松开爪夹使白板落在塑料容器顶部。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002986.json new file mode 100644 index 0000000000000000000000000000000000000000..e59d4f4b180a469f2030799e1bf00fb3e348dd59 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002986.json @@ -0,0 +1,512 @@ +{ + "task_description": "抓取黄红色的笔放至桌面上：\n爪夹准备移动：0%\n爪夹靠近红色的笔：20%\n爪夹夹取红色的笔：40%\n爪夹抓取红色的笔移动至桌面正上方：60%\n爪夹抓取红色的笔下降直至接近桌面：80%\n爪夹松开，红色的笔被放至桌面：100%", + "progress_points": [ + { + "time": 1.687447, + "frame": 51, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹准备移动。为完成抓取黄红色的笔放至桌面上的任务应当：爪夹向爪夹方向下放移动。", + "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": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002182.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002182.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e52eb26d8c5bef525975139646f02a3105ba17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002182.json @@ -0,0 +1,323 @@ +{ + "task_description": "关闭抽屉：\n爪夹准备移动：0%\n爪夹向爪夹方向右边移动：20%\n爪夹向爪夹方向右下方移动：40%\n爪夹靠近抽屉：60%\n爪夹推动抽屉：80%\n爪夹推动抽屉将抽屉关闭：100%", + "progress_points": [ + { + "time": 0.303347, + "frame": 9, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成关闭抽屉的任务应当：爪夹向爪夹方向右边移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + 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"当前爪夹张开爪夹垂直下降靠近手套。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手套。", + "correction_plan": "爪夹合拢抓取手套，爪夹抓取手套向爪夹方向右后方移动，爪夹抓取手套继续向爪夹方向右后方移动直至接近水槽右侧正上方，爪夹抓取手套向爪夹右边移动至水槽右侧正上方，爪夹抓取手套下降至水槽左侧，爪夹松开使手套落在水槽右侧。", + "annotations": { + "point_1767507234125": { + "type": "point", + "instances": [ + { + "id": "point_1767507234125_1767507417054_gmo1ysst1", + "x": 0.45149999999999996, + "y": 0.5706666666666667 + } + ] + }, + "point_1767507234283": { + "type": "point", + "instances": [ + { + "id": "point_1767507234283_1767507419040_70yoy42x7", + "x": 0.7775000000000001, + "y": 0.5848888888888889 + } + ] + }, + "bbox_1767507233291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767507233291_1767507424924_1ol6f8gp0", + "x": 0.34750000000000003, + "y": 0.0017777777777777779, + "width": 0.5450000000000002, + "height": 0.9226666666666667 + } + ] + } + } + }, + { + "time": 3.997757, + "frame": 120, + "progress": 40, + "action_description": "当前爪夹合拢抓取手套。", + "state_description": 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of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003083.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003083.json new file mode 100644 index 0000000000000000000000000000000000000000..aa52b99bdf535a81c0da0fac17ed9b4d03328e46 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003083.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取红色物体放至右侧桌面：\n爪夹准备移动：0%\n爪夹靠近红色物体：20%\n爪夹夹取红色物体：40%\n爪夹抓取红色物体接近右侧桌面：60%\n爪夹抓取红色物体下降至右侧桌面：80%\n爪夹松开，红色物体被放至右侧桌面：100%", + "progress_points": [ + { + "time": 0.448066, + "frame": 13, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取红色物体放至右侧桌面的任务应该：爪夹向爪夹方向右下方移动。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003100.json @@ -0,0 +1,685 @@ +{ + "task_description": "抓取门把手打开文件柜门：\n爪夹准备移动：0%\n爪夹靠近柜门把手：20%\n爪夹夹取柜门把手：40%\n爪夹抓取柜门把手向爪夹后方拉动：60%\n爪夹抓取柜门把手向爪夹后方拉动即将完全拉开：80%\n爪夹抓取柜门把手向爪夹后方拉动将柜门完全拉开：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至文件柜门正前方，爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹方向右前方移动至文件柜门正前方。", + "time": 1.016736, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514351663_hvaln3nes", + "x": 0.5595, + "y": 0.912 + } + ] + }, + "point_1767513967756": { + 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"annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514271194_qlt9vx2bk", + "x": 0.6475000000000001, + "y": 0.7662222222222224 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514273118_vhd309xcd", + "x": 0.6655, + "y": 0.7946666666666666 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514279690_r585kfuyz", + "x": 0.5835, + "y": 0.6097777777777778, + "width": 0.14000000000000004, + "height": 0.22044444444444442 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢向爪夹方向后方拉扯柜门把手。", + "correction_plan": "爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹成功向爪夹方向后方拉扯柜门把手。", + "frame": 333, + "progress": 50, + "progress_explanation": "当前爪夹合拢向爪夹方向后方拉扯柜门把手。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取柜门把手，此时爪夹与柜门之间的水平角度呈45度角.为完成抓取门把手打开文件柜门的任务应当：爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开。", + "time": 11.088, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514257204_2s55z9l0g", + "x": 0.6415, + "y": 0.7662222222222224 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514259098_fz66fpyti", + "x": 0.6575, + "y": 0.7982222222222223 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514267081_tk9s7ph0a", + "x": 0.5805, + "y": 0.608, + "width": 0.14400000000000004, + "height": 0.22933333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向后方拉扯柜门把手脱落，导致爪夹向抓夹方向左边摆动。", + "correction_plan": "爪夹向爪夹前上方移动至柜门正前方，爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹没有将爪夹抓紧导致爪夹向爪夹方向后方拖拽式爪夹脱落。", + "frame": 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"爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹成功将爪夹移动至柜门把手正前方。", + "frame": 456, + "progress": 10, + "progress_explanation": "当前爪夹张开，此时爪夹位于柜门把手正前方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于柜门把手正前方，为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹前方移动靠近柜门把手。", + "time": 15.216, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514231158_1girvoryl", + "x": 0.6755, + "y": 0.7253333333333334 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514233362_211to2rq7", + "x": 0.6905, + "y": 0.7964444444444445 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514238164_gfkz0rkco", + "x": 0.5825, + "y": 0.6097777777777778, + "width": 0.13799999999999998, + "height": 0.22577777777777777 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动靠近柜门把手。", + "correction_plan": "爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹向爪夹方向前方移动并成功靠近柜门把手。", + "frame": 485, + "progress": 20, + "progress_explanation": "当前爪夹向爪夹方向前方移动靠近柜门把手。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹左搭在柜门把手上。为完成抓取门把手打开文件柜门的任务应当：爪夹合拢抓取柜门把手。", + "time": 16.151999, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514218262_ik03ixigg", + "x": 0.6505, + "y": 0.7644444444444444 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514220490_yiq2w6x1x", + "x": 0.6585, + "y": 0.8302222222222222 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514226326_gigxr9nih", + "x": 0.5815, + "y": 0.6062222222222222, + "width": 0.13899999999999996, + "height": 0.23111111111111107 + } + ] + 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"action_description": "当前爪夹合拢抓取柜门把手向爪夹方向后方拉动柜门把手。", + "correction_plan": "爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹合拢抓取柜门把手成功向后拉动。", + "frame": 609, + "progress": 60, + "progress_explanation": "当前爪夹合拢抓取柜门把手向爪夹方向后方拉动柜门把手，因此当前进度提升至60%。", + "state_description": "爪夹合拢抓取柜门把手，此时柜门略微打开，为完成抓取门把手打开文件柜门的任务应当：爪夹抓取柜门把手向爪夹方向后方拉扯直至柜门即将打开。", + "time": 20.304, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514165448_8xuckqday", + "x": 0.6445000000000001, + "y": 0.7715555555555556 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514167578_uktojtwbh", + "x": 0.6545, + "y": 0.7875555555555555 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514175462_k3a94l3xl", + "x": 0.5845, + "y": 0.6133333333333334, + "width": 0.146, + "height": 0.23466666666666672 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取柜门把手向爪夹后方拉动柜门直至柜门即将打开。", + "annotations": { + "bbox_1767513966768": { + "instances": [ + { + "height": 0.28977777777777775, + "id": "bbox_1767513966768_1767514075288_v924q547l", + "width": 0.1960000000000001, + "x": 0.5845, + "y": 0.6204444444444445 + } + ], + "type": "bbox" + }, + "point_1767513967640": { + "instances": [ + { + "id": "point_1767513967640_1767514062830_dv62j5f00", + "x": 0.6765000000000001, + "y": 0.8142222222222222 + } + ], + "type": "point" + }, + "point_1767513967756": { + "instances": [ + { + "id": "point_1767513967756_1767514065050_9rmrf7qvb", + "x": 0.6925, + "y": 0.8497777777777779 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹抓取柜门把手即将将柜门拉开。", + "frame": 635, + "progress": 80, + "progress_explanation": "当前爪夹合拢抓取柜门把手向爪夹后方拉动柜门直至柜门即将打开，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取柜门把手，此时柜门即将被拉开。为完成抓取门把手打开文件柜门的任务应当：爪夹抓取柜门把手向爪夹后方拉动直至柜门完全拉开。", + "time": 21.168 + }, + { + "action_description": "当前爪夹抓取柜门把手向爪夹后方拉动直至将柜门完全拉开。", + "annotations": { + "bbox_1767513966768": { + "instances": [ + { + "height": 0.3288888888888889, + "id": "bbox_1767513966768_1767514045112_25c3rct1d", + "width": 0.22699999999999995, + "x": 0.5855, + "y": 0.6346666666666666 + } + ], + "type": "bbox" + }, + "point_1767513967640": { + "instances": [ + { + "id": "point_1767513967640_1767514026174_ltzph5rr0", + "x": 0.6965000000000001, + "y": 0.855111111111111 + } + ], + "type": "point" + }, + "point_1767513967756": { + "instances": [ + { + "id": "point_1767513967756_1767514028426_12khaizwf", + "x": 0.7405, + "y": 0.9031111111111111 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹向爪夹方向后方拉动柜门并成功拉开柜门。", + "frame": 720, + "progress": 100, + "progress_explanation": "当前爪夹抓取柜门把手向爪夹后方拉动直至将柜门完全拉开，当前进度提升至100%。", + "state_description": "当前爪夹松开，此时柜门被完全拉开，已完成抓取门把手打开文件柜门的任务。", + "time": 24 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767513966768", + "name": "文件柜门" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767513967640", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767513967756", + "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_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003145.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003145.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003145.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "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_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003428.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003428.json new file mode 100644 index 0000000000000000000000000000000000000000..661d44fde17bd2accff4a52f66c961da1bd2f934 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003428.json @@ -0,0 +1,758 @@ +{ + "task_description": "抓取黄色和粉色的衬衫放至桌面：\n爪夹准备移动：0%\n爪夹靠近黄色衬衫：10%\n爪夹抓取黄色衬衫：30%\n爪夹将黄色衬衫放至桌面上50%\n爪夹靠近粉色衬衫：70%\n爪夹抓取粉色衬衫：80%\n爪夹松开使粉色衬衫落在桌面上：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动至黄色衬衫正上方，爪夹向爪夹方向前下方移动直至靠近黄色衬衫，爪夹合拢抓取黄色衬衫，爪夹抓取黄色衬衫竖直上升，爪夹抓取黄色衬衫向爪夹方向左边移动至桌面正上方，松开爪夹使黄色衬衫落在桌面上，爪夹向爪夹方向右前方移动至粉色衬衫正上方，爪夹垂直下降靠近粉色衬衫，爪夹合拢抓取粉色衬衫，爪夹抓取粉色衬衫竖直上升，爪夹抓取粉色衬衫向爪夹方向左后方移动至黄色上衣正上方，爪夹松开使粉色衬衫落在桌面上。", + "error_success_analysis": "", + "frame": 5, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹准备移动，为完成抓取黄色和粉色的衬衫放至桌面的任务应当：爪夹向爪夹方向前方移动至黄色衬衫正上方。", + "time": 0.17474226804123713, + "annotations": { + "point_1767520831923": { + "type": "point", + "instances": [ + { + "id": "point_1767520831923_1767574556031_igdmx75h8", + "x": 0.7335, + "y": 0.2488888888888889 + } + ] + }, + "bbox_1767520831010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520831010_1767574564317_74iq3ifx0", + "x": 0.5325, + "y": 0.48533333333333334, + "width": 0.08700000000000001, + "height": 0.1671111111111111 + } + ] + }, + "bbox_1767520830877": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520830877_1767574584324_y3myq57h4", + "x": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003820.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003820.json new file mode 100644 index 0000000000000000000000000000000000000000..449e6046f997246cea8a74d660faf706171b0e55 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003820.json @@ -0,0 +1,540 @@ +{ + "task_description": "抓取杯子至右侧桌面：\n爪夹准备移动：0%\n爪夹靠近杯子：20%\n爪夹夹取杯子：40%\n爪夹抓取杯子接近右侧桌面：60%\n爪夹抓取杯子下降至右侧桌面：80%\n爪夹松开，杯子被放至右侧桌面：100%", + "progress_points": [ + { + "time": 0.559999, + "frame": 17, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取杯子至右侧桌面的任务应当：爪夹向爪夹方向左前方移动并下降。", + "progress_explanation": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json new file mode 100644 index 0000000000000000000000000000000000000000..5b19f6794d05fc6eaf198dff29cf05f85461a933 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json @@ -0,0 +1,406 @@ +{ + "task_description": "抓取绿色物体放进杯子：\n爪夹准备移动：0%\n爪夹靠近绿色物体：20%\n爪夹夹取绿色物体：40%\n爪夹抓取绿色物体移动至杯子正上方：60%\n爪夹抓取绿色物体下降直至接近杯子：80%\n爪夹松开，绿色物体被放进杯子：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右下方移动至绿色物体正上方，爪夹垂直下降靠近绿色物体，爪夹合拢抓取绿色物体，爪夹抓取绿色物体竖直上升，爪夹抓取绿色物体向爪夹方向左前方移动至杯子正上方，爪夹抓取绿色物体垂直下降至杯子中，爪夹松开使绿色物体落在杯子里。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取绿色物体放进杯子的任务应当：爪夹向爪夹方向右下方移动至绿色物体正上方。", + "time": 1.3068, + "annotations": { + "point_1767581027475": { + "type": "point", + "instances": [ + { + "id": "point_1767581027475_1767581234085_anhh1807r", + "x": 0.4405, + "y": 0.5795555555555556 + } + ] + }, + "point_1767581027699": { + "type": "point", + "instances": [ + { + "id": "point_1767581027699_1767581235665_ndu94as56", + "x": 0.7555, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1767581091931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581091931_1767581241958_ugz3pymnl", + "x": 0.4755, + "y": 0.3324444444444445, + "width": 0.14100000000000001, + "height": 0.21511111111111106 + } + ] + }, + "bbox_1767581025045": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581025045_1767581251545_ihoa175x2", + "x": 0.4955000000000001, + "y": 0.6222222222222223, + "width": 0.0589999999999999, + 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+ "annotations": { + "point_1767581027475": { + "instances": [ + { + "id": "point_1767581027475_1767581042685_qm8hg1svq", + "x": 0.5265, + "y": 0.6062222222222222 + } + ], + "type": "point" + }, + "point_1767581027699": { + "instances": [ + { + "id": "point_1767581027699_1767581040917_6bfz9p6qd", + "x": 0.6795, + "y": 0.6186666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹略微上升后向爪夹方向右后方移动至绿色物体正上方，爪夹垂直下降靠近绿色物体，爪夹合拢抓取绿色物体，爪夹抓取绿色物体竖直上升，爪夹抓取绿色物体向爪夹方向左前方移动至杯子正上方，爪夹抓取绿色物体垂直下降至杯子中，爪夹松开使绿色物体落在杯子里。", + "error_success_analysis": "当前爪夹与绿色物体在同一水平线时向爪夹方向左后方移动导致爪夹右触碰绿色物体。", + "frame": 242, + "progress": -5, + "progress_explanation": "当前爪夹张开向爪夹方向左后方移动。因此当前进度为-5%。", + "state_description": "当前爪夹张开，此时爪夹右触碰绿色物体。为完成抓取绿色物体放进杯子的任务应当：爪夹略微上升后向爪夹方向右后方移动至绿色物体正上方。", + "time": 8.0586 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767581025045", + "name": "绿色物体" + }, + { + "color": "#FF9800", + "id": "bbox_1767581091931", + "name": "杯子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767581027475", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767581027699", + "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_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003954.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003954.json new file mode 100644 index 0000000000000000000000000000000000000000..695711bbc47c33817f3fe2f6accab24e779478a6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003954.json @@ -0,0 +1,297 @@ +{ + "task_description": "将右侧水龙头向左转动：\n爪夹准备移动：0%\n爪夹合拢：20%\n爪夹靠近右侧水龙头：40%\n爪夹推动右侧水龙头：60%\n爪夹推动右侧水龙头向左边转动：80%\n爪夹抬起，右侧水龙头被完全推至左边：100%", + "progress_points": [ + { + 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"爪夹向爪夹方向后方移动。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹后方移动。", + "correction_plan": "爪夹向爪夹方向后方移动并合拢，爪夹向爪夹方向左后方移动靠近右侧水龙头，爪夹向抓夹方向左边移动推动右侧水龙头，爪夹向爪夹方向左边移动推动右侧水龙头向左边转动，爪夹抬起，右侧水龙头被完全推至左边。", + "annotations": { + "point_1767583089810": { + "type": "point", + "instances": [ + { + "id": "point_1767583089810_1767583210464_37se7n3jo", + "x": 0.4755, + "y": 0.544 + } + ] + }, + "point_1767583093350": { + "type": "point", + "instances": [ + { + "id": "point_1767583093350_1767583212020_jcs7gvrh9", + "x": 0.7455, + "y": 0.544 + } + ] + } + } + }, + { + "time": 2.383466, + "frame": 72, + "progress": 20, + "action_description": "爪夹向爪夹方向后方移动并合拢。", + "state_description": "当前爪夹合拢，此时爪夹与右侧水龙头水平距离接近。为完成将右侧水龙头向左转动的任务应当：爪夹向爪夹方向左后方移动靠近右侧水龙头。", + "progress_explanation": "爪夹向爪夹方向后方移动并合拢。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向后方移动并合拢爪夹。", + "correction_plan": "爪夹向爪夹方向左后方移动靠近右侧水龙头，爪夹向抓夹方向左边移动推动右侧水龙头，爪夹向爪夹方向左边移动推动右侧水龙头向左边转动，爪夹抬起，右侧水龙头被完全推至左边。", + "annotations": { + "point_1767583089810": { + 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file mode 100644 index 0000000000000000000000000000000000000000..b9a04f476ab5ea4cf54111276125b86fbe02a62d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004927.json @@ -0,0 +1,646 @@ +{ + "task_description": "抓取瓶子放至托盘：\n爪夹准备移动：0%\n爪夹靠近瓶子：20%\n爪夹夹取瓶子：40%\n爪夹抓取瓶子移动至托盘正上方：60%\n爪夹抓取瓶子下降至托盘：80%\n爪夹松开，瓶子被放至托盘：100%", + "progress_points": [ + { + "time": 2.501546451030928, + "frame": 75, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹准备移动，为完成抓取瓶子放至托盘的任务应当：爪夹向爪夹前方移动至瓶子正上方。", + "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": "爪夹向爪夹前方移动至瓶子正上方，爪夹垂直下降靠近瓶子，爪夹合拢抓取瓶子，爪夹抓取瓶子竖直上升，爪夹抓取瓶子向爪夹方向左上方移动至托盘正上方，爪夹抓取瓶子向爪夹方向前下方移动至托盘，爪夹松开使瓶子落在托盘中。", + "annotations": { + "point_1767594576109": { + "type": "point", + "instances": [ + { + "id": "point_1767594576109_1767594879891_h5lj6m6re", + "x": 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100644 index 0000000000000000000000000000000000000000..00d2272ee3a37bbacc4bb53ab3bf5845a564f307 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004126.json @@ -0,0 +1,784 @@ +{ + "task_description": "抓取布将其塞进盒子里：\n爪夹准备移动：0%\n爪夹靠近布：20%\n爪夹抓取布：40%\n爪夹抓取布移动至盒子正上方：60%\n爪夹抓取布垂直下降至盒子内：80%\n爪夹将布完全塞进盒子中后抬起爪夹：100%", + "progress_points": [ + { + "time": 1.3907216494845362, + "frame": 42, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取布将其塞进盒子里的任务应当：爪夹向爪夹左前方移动直至布正上方。", + "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": "爪夹向爪夹左前方移动直至布正上方，爪夹垂直下降靠近布，爪夹合拢抓取布，爪夹合拢抓取布竖直上升，爪夹抓取布向爪夹方向右边移动至盒子正上方，爪夹垂直下降将布塞进盒子内，爪夹松开竖直上升，爪夹合拢垂直夹向下推动布直至完全将布塞进盒子内，爪夹将布完全塞进盒子中后抬起爪夹。", + "annotations": { + "point_1767602485915": { + "type": "point", + "instances": [ + { + "id": 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"progress_explanation": "当前爪夹张开向爪夹方向左前方移动到布的正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至布的正上方。", + "correction_plan": "爪夹垂直下降靠近布，爪夹合拢抓取布，爪夹合拢抓取布竖直上升，爪夹抓取布向爪夹方向右边移动至盒子正上方，爪夹垂直下降将布塞进盒子内，爪夹松开竖直上升，爪夹合拢垂直夹向下推动布直至完全将布塞进盒子内，爪夹将布完全塞进盒子中后抬起爪夹。", + "annotations": { + "point_1767602485915": { + "type": "point", + "instances": [ + { + "id": "point_1767602485915_1767603001805_kfvkeodmp", + "x": 0.3775, + "y": 0.42666666666666664 + } + ] + }, + "point_1767602486033": { + "type": "point", + "instances": [ + { + "id": "point_1767602486033_1767603003707_4imrpbtsq", + "x": 0.41950000000000004, + "y": 0.40177777777777784 + } + ] + }, + "bbox_1767602484861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602484861_1767603010446_fy4r6b6sk", + "x": 0.35550000000000004, + "y": 0.4888888888888889, + "width": 0.119, + "height": 0.23644444444444446 + } + ] + }, + "bbox_1767602485049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602485049_1767603014976_jdk0t1vle", + "x": 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"当前爪夹合拢，此时锅盖位于桌面上，为完成抓取锅盖放至台面的任务应当：爪夹松开使锅盖被放至桌面。", + "progress_explanation": "当前爪夹抓取锅盖向爪夹方向右下方移动至桌面。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹抓取锅盖成功下降至桌面。", + "correction_plan": "爪夹松开使锅盖被放至桌面上。", + "annotations": { + "point_1767662697409": { + "type": "point", + "instances": [ + { + "id": "point_1767662697409_1767662758335_dks2g6b0o", + "x": 0.5145000000000001, + "y": 0.5493333333333333 + } + ] + }, + "point_1767662697613": { + "type": "point", + "instances": [ + { + "id": "point_1767662697613_1767662761351_p82k3y7qq", + "x": 0.7045, + "y": 0.5582222222222223 + } + ] + }, + "bbox_1767662695745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767662695745_1767662769941_92qrbpb6k", + "x": 0.2165, + "y": 0.0017777777777777779, + "width": 0.745, + "height": 0.9920000000000002 + } + ] + }, + "bbox_1767662696232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767662696232_1767662785325_bnu1t65ty", + "x": 0.0025, + "y": 0.0035555555555555557, + "width": 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index 0000000000000000000000000000000000000000..177fc492a9e33528413ac76d6845f18bce09fbb7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004479.json @@ -0,0 +1,418 @@ +{ + "task_description": "抓取瓶子放进碗里：\n爪夹准备移动：0%\n爪夹靠近瓶子：20%\n爪夹夹取瓶子：40%\n爪夹抓取瓶子至碗正上方：60%\n爪夹抓取瓶子下降至碗内：80%\n爪夹松开，瓶子被放至碗内：100%", + "progress_points": [ + { + "time": 1.271338, + "frame": 38, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取瓶子放进碗里的任务应当：爪夹向爪夹方向左后方移动并下降至瓶子正上方。", + "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": "应当：爪夹向爪夹方向左后方移动并下降至瓶子正上方，爪夹垂直下降靠近瓶子，爪夹合拢抓取瓶子，爪夹抓取瓶子竖直上升，爪夹抓取瓶子向爪夹方向左后方移动至碗正上方，爪夹抓取瓶子下降至桶内，爪夹松开，瓶子落入碗内。", + "annotations": { + "point_1767664704851": { + "type": "point", + "instances": [ + { + "id": "point_1767664704851_1767664933403_llmpypjom", + "x": 0.43550000000000005, + "y": 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"instances": [ + { + "id": "point_1767664704851_1767664770398_ufu6jauy9", + "x": 0.5265, + "y": 0.544 + } + ] + }, + "point_1767664704969": { + "type": "point", + "instances": [ + { + "id": "point_1767664704969_1767664772104_v4yc5qwft", + "x": 0.6595, + "y": 0.544 + } + ] + }, + "bbox_1767664703892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664703892_1767664780600_qfef8l4jl", + "x": 0.5315000000000001, + "y": 0.5013333333333333, + "width": 0.142, + "height": 0.32533333333333325 + } + ] + }, + "bbox_1767664704012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664704012_1767664801048_trfihdd2s", + "x": 0.3665, + "y": 0.35555555555555557, + "width": 0.5780000000000001, + "height": 0.6399999999999999 + } + ] + } + } + }, + { + "time": 7.3632, + "frame": 221, + "progress": 100, + "action_description": "当前爪夹松开使瓶子落在碗内。", + "state_description": "当前爪夹张开，此时瓶子位于碗内，已完成抓取瓶子放进碗里的任务。", + "progress_explanation": "当前爪夹松开使瓶子落在碗内。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将瓶子放至碗内。", + "correction_plan": "", + "annotations": { + "point_1767664704851": { + "type": "point", + "instances": [ + { + "id": "point_1767664704851_1767664720590_wnzb4mx3g", + "x": 0.4575, + "y": 0.5688888888888889 + } + ] + }, + "point_1767664704969": { + "type": "point", + "instances": [ + { + "id": "point_1767664704969_1767664722650_dsaedn6ng", + "x": 0.7335, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1767664703892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664703892_1767664730392_fpeq95hlr", + "x": 0.4875000000000001, + "y": 0.43200000000000005, + "width": 0.11499999999999995, + "height": 0.19911111111111113 + } + ] + }, + "bbox_1767664704012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664704012_1767664750936_4n258blo3", + "x": 0.3275, + "y": 0.2826666666666667, + "width": 0.5029999999999999, + "height": 0.7057777777777776 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767664703892", + "name": "瓶子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767664704012", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767664704851", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767664704969", + "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_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004817.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004817.json new file mode 100644 index 0000000000000000000000000000000000000000..cc4a3693292165d9480efaac0c598b2466524fc8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004817.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取记号笔放至记号笔左边桌面：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹夹取记号笔：40%\n爪夹抓取记号笔至桌面正上方：60%\n爪夹抓取记号笔接近桌面：80%\n爪夹松开，记号笔被放至桌面：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右边移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左后方移动至桌面正上方，爪夹抓取记号笔垂直下降，爪夹松开使记号笔落在桌面。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹向爪夹方向右边移动至记号笔正上方。", + "time": 0.616283, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667904331_4wmu26juu", + "x": 0.4485, + "y": 0.5813333333333334 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667906025_h8zxl6t3r", + "x": 0.7805000000000001, + "y": 0.5831111111111111 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + 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"爪夹向爪夹方向右下方移动至记号笔正上方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹垂直下降靠近记号笔。", + "time": 4.258333, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667832563_63abqx6r6", + "x": 0.4455, + "y": 0.5884444444444444 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667834184_hxrsx6gtu", + "x": 0.7785, + "y": 0.5937777777777777 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560128_1767667839784_4pirvwo7m", + "x": 0.5845, + "y": 0.32533333333333336, + "width": 0.12299999999999996, + "height": 0.455111111111111 + } + ] + }, + "bbox_1767667560267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560267_1767667852340_nd3oggrqt", + "x": 0.05550000000000001, + "y": 0.2328888888888889, + "width": 0.942, + "height": 0.7591111111111111 + } + ] + } + } + }, + { + "action_description": "当前爪夹垂直下降靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左后方移动至桌面正上方，爪夹抓取记号笔垂直下降，爪夹松开使记号笔落在桌面。", + "error_success_analysis": "爪夹垂直下降成功靠近记号笔。", + "frame": 179, + "progress": 20, + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹合拢抓取记号笔。", + "time": 5.973333, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667789926_wson6kvix", + "x": 0.4455, + "y": 0.5813333333333334 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667791661_itqxacelb", + "x": 0.7855000000000001, + "y": 0.5937777777777777 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560128_1767667795791_kdipsxwnb", + "x": 0.5265000000000001, + "y": 0.07111111111111111, + "width": 0.16799999999999998, + "height": 0.7200000000000001 + } + ] + 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"当前爪夹合拢抓取记号笔，此时记号笔位于桌面正上方。为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹抓取记号笔垂直下降接近桌面。", + "time": 8.901157, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667688258_gyh3mnegi", + "x": 0.5655, + "y": 0.544 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667690329_9bpug2loc", + "x": 0.6555, + "y": 0.5528888888888889 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560128_1767667698290_z7qz97ljw", + "x": 0.5485, + "y": 0.010666666666666666, + "width": 0.13500000000000006, + "height": 0.977777777777778 + } + ] + }, + "bbox_1767667560267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560267_1767667720809_mfh0c43k7", + "x": 0.0015, + "y": 0.0017777777777777779, + "width": 0.9959999999999999, + "height": 0.9884444444444446 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取记号笔垂直下降接近桌面。", + "correction_plan": "爪夹松开使记号笔落在桌面。", + "error_success_analysis": "当前爪夹抓取记号笔成功接近桌面。", + "frame": 295, + "progress": 80, + "progress_explanation": "当前爪夹合拢抓取记号笔垂直下降接近桌面。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取记号笔，此时记号笔接近桌面。为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹松开使记号笔落在桌面。", + "time": 9.846666, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667653061_yxf8egk2b", + "x": 0.5635, + "y": 0.5511111111111111 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667654704_12ny1jd7j", + "x": 0.6505, + "y": 0.5511111111111111 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560128_1767667664192_p2x5g2cxq", + "x": 0.5495000000000001, + "y": 0.010666666666666666, + "width": 0.13299999999999992, + "height": 0.9795555555555556 + } + ] + }, + "bbox_1767667560267": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004878.json new file mode 100644 index 0000000000000000000000000000000000000000..66ebbe164b9dd8ce42ca73f2cdbddd3598264d33 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004878.json @@ -0,0 +1,285 @@ +{ + "task_description": "抓取门把手将门打开：\n爪夹准备移动：0%\n爪夹靠近门把手：20%\n爪夹抓取门把手：40%\n爪夹转动门把手：60%\n爪夹抓取门把手向前拉扯：80%\n爪夹松开，门被打开：100%", + "progress_points": [ + { + "time": 0.789679, + "frame": 24, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取门把手将门打开的任务应当：爪夹向爪夹方向右边转动爪夹并向爪夹方向后方移动。", + "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": "爪夹向爪夹方向右边转动爪夹并向爪夹方向后方移动，爪夹向爪夹方向后下方移动靠近门把手，爪夹合拢抓取门把手，爪夹抓取门把手向爪夹左下方移动转动门把手，爪夹合拢再次抓取门把手向爪夹方向前方移动，爪夹松开，门被打开。", + "annotations": { + "point_1767670104436": { + "type": "point", + "instances": [ + { + "id": "point_1767670104436_1767670269978_5055krta3", + "x": 0.7805000000000001, + "y": 0.5528888888888889 + } + ] + }, + "point_1767670104306": { + "type": "point", + "instances": [ + { + "id": "point_1767670104306_1767670271648_4v1x5yejn", + "x": 0.4405, + "y": 0.5528888888888889 + } + ] + } + } + }, + { + "time": 1.955733, + "frame": 59, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右边转动爪夹并向爪夹方向后方移动。", + "state_description": "当前爪夹张开，此时爪夹与门水平角度呈30度。为完成抓取门把手将门打开的任务应当：爪夹向爪夹方向后下方移动靠近门把手。", + "progress_explanation": "当前爪夹向爪夹方向右边转动爪夹并向爪夹方向后方移动。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功调整爪夹与门的水平角度使其更容易抓取门把手。", + "correction_plan": "爪夹向爪夹方向后下方移动靠近门把手，爪夹合拢抓取门把手，爪夹抓取门把手向爪夹左下方移动转动门把手，爪夹合拢再次抓取门把手向爪夹方向前方移动，爪夹松开，门被打开。", + "annotations": { + "point_1767670104306": { + "type": "point", + "instances": [ + { + "id": "point_1767670104306_1767670261869_0w6slx4qs", + "x": 0.4365, + "y": 0.5546666666666666 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004901.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004901.json new file mode 100644 index 0000000000000000000000000000000000000000..83fd5e7174f9d0404facd3bfdbf814f4168dc6f3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004901.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取记号笔放进碗里：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹夹取记号笔：40%\n爪夹抓取记号笔至碗正上方：60%\n爪夹抓取记号笔下降至碗内：80%\n爪夹松开，记号笔被放至碗内：100%", + "progress_points": [ + { + "time": 0.4352, + "frame": 13, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取记号笔放进碗里的任务应当：爪夹向爪夹方向右下方移动至记号笔正上方。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005637.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005637.json new file mode 100644 index 0000000000000000000000000000000000000000..bea4e62e7687600914b184f9bf96a8017e82a67c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005637.json @@ -0,0 +1,381 @@ +{ + "task_description": "打开咖啡机机盖：\n准备开始移动：0%\n爪夹接近咖啡机机盖：20%\n爪夹靠近咖啡机机盖：40%\n爪夹推动咖啡机机盖向上：60%\n爪夹推动咖啡机机盖向上至半空中：80%\n咖啡机机盖完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方的咖啡机机盖靠近，调整爪夹角度接近平行于桌面。靠近咖啡机机盖正前方后，爪夹推动咖啡机机盖向上，推动咖啡机机盖向上至半空中，继续推动咖啡机机盖向上，至咖啡机机盖完全打开。", + "error_success_analysis": "", + "frame": 0, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005104.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005104.json new file mode 100644 index 0000000000000000000000000000000000000000..31e952dd228be7b17f1246c4c9753bc9876c9ea8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005104.json @@ -0,0 +1,480 @@ +{ + "task_description": "抓取橙色物体放到桌面上：\n准备开始移动：0%\n爪夹靠近碗中橙色物体：20%\n爪夹抓取橙色物体：40%\n爪夹抓紧橙色物体接近桌面：60%\n爪夹将橙色物体靠近桌面：80%\n爪夹松开橙色物体落入桌面：100%", + "progress_points": [ + { + "action_description": "爪夹位于屏幕外，未开始移动", + "annotations": { + "bbox_1766815267186": { + "instances": [ + { + "height": 0.06044444444444442, + "id": "bbox_1766815267186_1766815306309_s2gl23zth", + "width": 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0000000000000000000000000000000000000000..412cbc784805d4f1d7f86afa1919b64565cca48d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.wrist_image_left/episode_005200.json @@ -0,0 +1,365 @@ +{ + "task_description": "将杯子上的黑色滑盖滑动至另一侧：\n准备开始移动：0%\n爪夹接近黑色滑盖：20%\n爪夹贴近黑色滑盖：40%\n爪夹推动黑色滑盖：60%\n爪夹推动黑色滑盖至滑盖另一侧：80%\n爪夹松开黑色滑盖完全滑动至另一侧：100%", + "progress_points": [ + { + "time": 0.648, + "frame": 19, + "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，未开始移动。\n为完成将杯子上的黑色滑盖滑动至另一侧的任务应当：爪夹向爪夹后方的黑色滑盖靠近，并垂直下降，调整爪夹角度接近垂直于桌面。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹后方的黑色滑盖靠近，并垂直下降，合拢爪夹，调整爪夹角度接近垂直于桌面。移动到黑色滑盖正上方后，继续垂直向下移动贴近黑色滑盖。接着向黑色滑盖另一侧移动爪夹，推动黑色滑盖至另一侧。爪夹松开，黑色滑盖完全滑动至另一侧。", + "annotations": { + "point_1766972800063": { + "type": "point", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006382.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006382.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb63de83f7b15bb09f43f47cfe1e786c30ddbf1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006382.json @@ -0,0 +1,490 @@ +{ + "task_description": "抓取记号笔放到水杯里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓紧记号笔靠近水杯：60%\n爪夹将记号笔放入水杯：80%\n爪夹松开记号笔落入水杯：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，远离记号笔，未开始移动。\n为完成抓取记号笔放到水杯里的任务应当：爪夹向爪夹正前方移动下降，来到记号笔正上方。", + "progress_explanation": 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"爪夹合拢，抓取记号笔。抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，同时调整爪夹角度使记号笔接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯里，松开爪夹，使记号笔落入水杯。", + "annotations": { + "point_1767058443922": { + "type": "point", + "instances": [ + { + "id": "point_1767058443922_1767058554714_uuhwt7eai", + "x": 0.5435000000000001, + "y": 0.6702222222222223 + } + ] + }, + "point_1767058453362": { + "type": "point", + "instances": [ + { + "id": "point_1767058453362_1767058556812_y65pvjc7m", + "x": 0.6035, + "y": 0.664888888888889 + } + ] + }, + "bbox_1767058423191": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058423191_1767058562048_mnx9yskcr", + "x": 0.5655, + "y": 0.624, + "width": 0.016999999999999994, + "height": 0.11733333333333328 + } + ] + }, + "bbox_1767058431722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058431722_1767058567674_8gobfun1k", + "x": 0.6575, + "y": 0.45155555555555554, + "width": 0.092, + "height": 0.15288888888888888 + } + ] + } + } + }, + { + "time": 6.543599, + "frame": 196, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放到水杯里的任务应当：抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，同时调整爪夹角度使记号笔接近垂直于桌面。", + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到了记号笔。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续移动记号笔。", + "correction_plan": "抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，同时调整爪夹角度使记号笔接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯里，松开爪夹，使记号笔落入水杯。", + "annotations": { + "point_1767058443922": { + "type": "point", + "instances": [ + { + "id": "point_1767058443922_1767058574070_pn24hu2j9", + "x": 0.5595, + "y": 0.6826666666666666 + } + ] + }, + "point_1767058453362": { + "type": "point", + "instances": [ + { + "id": "point_1767058453362_1767058576301_zepcykt6w", + "x": 0.5735, + "y": 0.6826666666666666 + } + ] + }, + "bbox_1767058423191": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058423191_1767058580553_tnyhl7h28", + "x": 0.5565, + "y": 0.6364444444444445, + "width": 0.02999999999999998, + "height": 0.11377777777777773 + } + ] + }, + "bbox_1767058431722": { + 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"打开底层柜子的抽屉：\n准备开始移动：0%\n爪夹接近抽屉：20%\n爪夹贴近抽屉：40%\n爪夹开始拉动抽屉：60%\n爪夹拉动抽屉至抽屉打开：80%\n爪夹松开抽屉完全打开：100%", + "progress_points": [ + { + "time": 0.5544, + "frame": 17, + "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，未开始移动。\n为完成打开底层柜子的抽屉任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度与抽屉面呈一定角度，靠近抽屉把手。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度与抽屉面呈一定角度，靠近抽屉把手。合拢爪夹，抓取抽屉把手，接着向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079156638_hkt5fwcxc", + "x": 0.3275, + "y": 0.6524444444444444 + } + ] + }, + "point_1767079123161": { + "type": "point", + "instances": [ + { + "id": "point_1767079123161_1767079159322_e79yj7pgv", + "x": 0.3505, + "y": 0.6880000000000001 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079164930_ofthlju37", + 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[ + { + "id": "bbox_1767079086662_1767079184226_106y0z3z7", + "x": 0.6214999999999999, + "y": 0.4355555555555556, + "width": 0.13100000000000006, + "height": 0.33599999999999997 + } + ] + } + } + }, + { + "time": 4.3582, + "frame": 131, + "progress": 15, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。水平上接近了抽屉。\n为完成打开底层柜子的抽屉任务应当：爪夹向爪夹正前方移动下降，靠近抽屉把手。", + "progress_explanation": "爪夹角度与桌面呈50度。水平上接近了抽屉。方便抓取抽屉把手。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降更加缩短了与抽屉之间的距离，方便抓取抽屉。", + "correction_plan": "爪夹向爪夹正前方移动下降，靠近抽屉把手。合拢爪夹，抓取抽屉把手，接着向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079188712_80b8w8o1f", + "x": 0.5935, + "y": 0.592 + } + ] + }, + "point_1767079123161": { + "type": "point", + "instances": [ + { + "id": "point_1767079123161_1767079190880_ov82opp1t", + "x": 0.6275000000000001, + "y": 0.5742222222222222 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079196256_ve1f2u0og", + "x": 0.6195, + "y": 0.4355555555555556, + "width": 0.133, + "height": 0.3306666666666667 + } + ] + } + } + }, + { + "time": 6.628350515463918, + "frame": 199, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹一侧伸到抽屉把手内测。靠近了把手。\n为完成打开底层柜子的抽屉任务应当：合拢爪夹。抓取抽屉把手，接着向爪夹正后方移动", + "progress_explanation": "爪夹一侧伸到抽屉把手内测，靠近了把手。方便抓取把手，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降靠近了把手。方便抓取把手。", + "correction_plan": "合拢爪夹，抓取抽屉把手，接着向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079202853_589pnogmx", + "x": 0.6355000000000001, + "y": 0.6488888888888888 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079209738_6t1t5kxz0", + "x": 0.6165, + "y": 0.43377777777777776, + "width": 0.13500000000000006, + "height": 0.3253333333333334 + } + ] + } + } + }, + { + "time": 7.6846, + "frame": 231, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面呈50度。抓取到抽屉把手。\n为完成打开底层柜子的抽屉任务应当：爪夹向爪夹正后方移动，拉动抽屉至抽屉打开。", + "progress_explanation": "爪夹角度与桌面呈50度，抓取到了抽屉把手。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢抓取到抽屉把手。方便后续拉动抽屉打开。", + "correction_plan": "爪夹向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079214626_xn7yo6ni4", + "x": 0.6565000000000001, + "y": 0.6453333333333333 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079220274_sjhq4qv4n", + "x": 0.6195, + "y": 0.43377777777777776, + "width": 0.13499999999999995, + "height": 0.3253333333333334 + } + ] + } + } + }, + { + "time": 8.739896907216496, + "frame": 262, + "progress": 60, + "action_description": "爪夹向爪夹后方移动", + "state_description": "爪夹合拢抓紧抽屉把手，抽屉打开一条缝。\n为完成打开底层柜子的抽屉任务应当：爪夹向爪夹正后方移动，拉动抽屉至抽屉打开。", + "progress_explanation": "爪夹抓紧抽屉把手，向正后方移动。开始拉动抽屉，因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹后方移动，开始拉动抽屉。", + "correction_plan": "爪夹向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079224736_k5mm7dkl2", + "x": 0.6475000000000001, + "y": 0.6417777777777778 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079231648_7rwc0w8om", + "x": 0.6094999999999999, + "y": 0.4444444444444444, + "width": 0.13500000000000006, + "height": 0.31999999999999995 + } + ] + } + } + }, + { + "time": 11.899278350515464, + "frame": 357, + "progress": 80, + "action_description": "爪夹向爪夹后方移动，爪夹张开", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹一侧插入到把手里。抽屉打开。\n为完成打开底层柜子的抽屉任务应当：爪夹向爪夹上方升高，松开抽屉完全打开。", + "progress_explanation": "爪夹角度接近垂直于桌面，拉动抽屉至抽屉打开。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹后方移动拉动抽屉至抽屉打开，爪夹张开，方便后续从把手处抽出爪夹。", + "correction_plan": "爪夹向爪夹上方升高，松开抽屉完全打开。", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": "point_1767079114964_1767079237668_d4aexrglq", + "x": 0.48150000000000004, + "y": 0.6880000000000001 + } + ] + }, + "bbox_1767079086662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079086662_1767079242548_cbffqvex1", + "x": 0.48549999999999993, + "y": 0.46222222222222226, + "width": 0.26300000000000007, + "height": 0.4035555555555557 + } + ] + } + } + }, + { + "time": 15.4, + "frame": 462, + "progress": 100, + "action_description": "爪夹向上垂直升高，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度于桌面呈40度。\n打开底层柜子的抽屉任务目标完成。", + "progress_explanation": "爪夹张开，抽屉完全打开。因此进度提升为100%。", + "error_success_analysis": "爪夹张开，抽屉完全打开。任务完成。", + "correction_plan": "", + "annotations": { + "point_1767079114964": { + "type": "point", + "instances": [ + { + "id": 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"抓取记号笔放到水杯中：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓紧记号笔靠近水杯：60%\n爪夹将记号笔放入水杯：80%\n爪夹松开记号笔落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹位于屏幕外，未开始移动", + "correction_plan": "爪夹向爪夹正前方移动下降，来到记号笔正上方。落下爪夹靠近记号笔，接近记号笔后爪夹合拢抓取记号笔。抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，调整记号笔角度使其接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯，松开爪夹，使记号笔落入水杯中。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹屏幕外，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹在屏幕外，远离记号笔，未开始移动。\n为完成爪夹抓取记号笔放到水杯中任务应当：爪夹向爪夹正前方移动下降，来到记号笔正上方。", + "time": 0.7978350515463918, + "annotations": { + "bbox_1767148499521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148499521_1767148572650_89qosn4ni", + "x": 0.5235000000000001, + "y": 0.448, + "width": 0.08099999999999996, + "height": 0.07644444444444447 + } + ] + }, + "bbox_1767148505058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148505058_1767148577214_cqwl3po5c", + "x": 0.5825, + "y": 0.35555555555555557, + "width": 0.07299999999999995, + "height": 0.12800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降", + "correction_plan": "爪夹向爪夹正前方移动下降，来到记号笔正上方。落下爪夹靠近记号笔，接近记号笔后爪夹合拢抓取记号笔。抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，调整记号笔角度使其接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯，松开爪夹，使记号笔落入水杯中。", + "error_success_analysis": "爪夹向爪夹正前方移动下降缩短了与记号笔之间的距离。方便抓取记号笔。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了记号笔，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平和垂直上略微接近了记号笔。\n为完成爪夹抓取记号笔放到水杯中任务应当：爪夹向爪夹正前方移动下降，来到记号笔正上方。", + "time": 2.3146, + "annotations": { + "point_1767148510334": { + "type": "point", + "instances": [ + { + "id": "point_1767148510334_1767148596258_5s9bh3tvv", + "x": 0.5895, + "y": 0.16355555555555557 + } + ] + }, + "point_1767148515634": { + "type": "point", + "instances": [ + { + "id": "point_1767148515634_1767148598410_wgxrsbldo", + "x": 0.6335, + "y": 0.18666666666666668 + } + ] + }, + "bbox_1767148499521": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹角度接近垂直于桌面。水平上接近了抽屉。方便继续向抽屉移动。因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹右前方移动，缩短了与抽屉之间的距离。方便抓取抽屉把手。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度使其接近垂直于抽屉面。靠近抽屉把手，爪夹合拢抓取抽屉把手。抓紧抽屉把手向爪夹正后方移动，拉动抽屉至抽屉打开，爪夹张开，抽屉完全打开。", + "annotations": { + "point_1767581009228": { + "type": "point", + "instances": [ + { + "id": "point_1767581009228_1767581092594_czr3340j6", + "x": 0.5975, + "y": 0.8711111111111112 + } + ] + }, + "point_1767581013956": { + "type": "point", + "instances": [ + { + "id": "point_1767581013956_1767581095544_1kutrc1xv", + "x": 0.6485000000000001, + "y": 0.8568888888888889 + } + ] + }, + "bbox_1767581003166": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581003166_1767581101012_8p7dax8ft", + "x": 0.5675, + "y": 0.5902222222222223, + "width": 0.14300000000000007, + "height": 0.2222222222222222 + } + ] + } + } + }, + { + "time": 2.5322679788659794, + "frame": 76, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "state_description": 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+ "correction_plan": "抓紧抽屉把手向爪夹正后方移动，拉动抽屉至抽屉打开。爪夹张开，抽屉完全打开。", + "annotations": { + "point_1767581013956": { + "type": "point", + "instances": [ + { + "id": "point_1767581013956_1767581170367_yc4t904j6", + "x": 0.6515000000000001, + "y": 0.7502222222222221 + } + ] + }, + "bbox_1767581003166": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581003166_1767581176993_jts9cum8m", + "x": 0.5675, + "y": 0.5884444444444444, + "width": 0.14000000000000004, + "height": 0.2222222222222223 + } + ] + } + } + }, + { + "time": 8.685051332474227, + "frame": 261, + "progress": 80, + "action_description": "爪夹向爪夹后方移动", + "state_description": "爪夹合拢夹紧抽屉把手。抽屉打开一半。\n为完成打开左边柜子的底层抽屉的任务应当：抓紧抽屉把手继续向爪夹正后方移动，拉动抽屉至抽屉打开", + "progress_explanation": "爪夹拉动抽屉至抽屉打开一半，方便完全打开抽屉，因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹后方移动，拉动抽屉至抽屉打开一半。", + "correction_plan": "抓紧抽屉把手继续向爪夹正后方移动，拉动抽屉至抽屉打开，爪夹张开，抽屉完全打开。", + "annotations": { + "bbox_1767581003166": { + "type": "bbox", + "instances": [ + { + "id": 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"error_success_analysis": "爪夹张开，抽屉完全打开。任务完成。", + "correction_plan": "", + "annotations": { + "point_1767581013956": { + "type": "point", + "instances": [ + { + "id": "point_1767581013956_1767581202314_wa5j19dza", + "x": 0.7195, + "y": 0.88 + } + ] + }, + "bbox_1767581003166": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581003166_1767581208069_gtgmxzq1o", + "x": 0.5645, + "y": 0.6133333333333334, + "width": 0.20400000000000001, + "height": 0.3111111111111111 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767581003166", + "name": "抽屉", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767581009228", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767581013956", + "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_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007390.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007390.json new file mode 100644 index 0000000000000000000000000000000000000000..b42408ae3943a4a2e82dda93cf536f963ecf2c83 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007390.json @@ -0,0 +1,490 @@ +{ + "task_description": "抓取水杯放到杯子左侧桌面上：\n准备开始移动：0%\n爪夹靠近水杯：20%\n爪夹抓取水杯：40%\n爪夹抓紧水杯接近桌面：60%\n爪夹将水杯靠近桌面：80%\n爪夹松开水杯落入桌面：100%", + "progress_points": [ + { + "time": 0.026933, + "frame": 1, + "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，远离水杯，未开始移动。\n为完成抓取水杯放到杯子左侧桌面上的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹角度接近垂直于桌面，靠近水杯把手。靠近水杯把手后，爪夹合拢抓取水杯。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": 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diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007393.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007393.json new file mode 100644 index 0000000000000000000000000000000000000000..6bcc64f475eb2c72f8e9da032f70d0845ec5edad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-007/observation.images.wrist_image_left/episode_007393.json @@ -0,0 +1,922 @@ +{ + "task_description": "打开纸盒盖子，并抓取纸盒放到纸盒左边桌面上。\n准备开始移动：0%\n爪夹靠近纸盒盖子：20%\n爪夹推动纸盒盖子：40%\n爪夹松开盖子打开：50%\n爪夹靠近纸盒：60%\n爪夹抓取纸盒：70%\n爪夹夹紧纸盒靠近左侧桌面：80%\n爪夹夹紧纸盒放到左侧桌面上：90%\n爪夹松开使纸盒落入爪夹左侧桌面：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": 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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_0004/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008066.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008066.json new file mode 100644 index 0000000000000000000000000000000000000000..0279a4a343eb8096c82ed94b88b17967419aaa26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008066.json @@ -0,0 +1,674 @@ +{ + "task_description": "抓取帽子放到右侧服装上：\n准备开始移动：0%\n爪夹靠近帽子：20%\n爪夹抓取帽子：40%\n爪夹抓紧帽子靠近右侧服装：60%\n爪夹将帽子放到右侧服装上：80%\n爪夹松开帽子使其落入右侧服装上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前方移动下降，旋转爪夹至帽檐两侧，靠近帽子。爪夹合拢抓取帽子，抓紧帽子向爪夹右方移动，来到右侧服装正上方，爪夹垂直落下，将帽子放到服装上。爪夹松开，帽子落到服装上。", + 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"爪夹向爪夹左前方移动下降来到第一个瓶子正上方，下降爪夹合拢，抓取第一个瓶子。抓紧第一个瓶子垂直上升，并向爪夹右方的盘子移动，来到盘子正上方后将第一个瓶子放入盘子，爪夹松开，使第一个瓶子落入盘子。接着爪夹向爪夹右方移动下降来到第二个瓶子正上方，下降爪夹合拢，抓取第二个瓶子。抓紧第二个瓶子垂直上升，并向爪夹左方的盘子移动，来到盘子正上方后将第二个瓶子放入盘子，爪夹松开，使第二个瓶子落入盘子。接着爪夹向爪夹左后方移动下降来到第三个瓶子正上方，下降爪夹合拢，抓取第三个瓶子。抓紧第三个瓶子垂直上升，并向爪夹右前方的盘子移动，来到盘子正上方后将第三个瓶子放入盘子，爪夹松开，使第三个瓶子落入盘子。接着爪夹向爪夹左后方移动下降来到第四个瓶子正上方，下降爪夹合拢，抓取第四个瓶子。抓紧第四个瓶子垂直上升，并向爪夹右前方的盘子移动，来到盘子正上方后将第四个瓶子放入盘子，爪夹松开，使第四个瓶子落入盘子。接着爪夹向爪夹右方移动下降来到第五个瓶子正上方，下降爪夹合拢，抓取第五个瓶子。抓紧第五个瓶子垂直上升，并向爪夹左前方的盘子移动，来到盘子正上方后将第五个瓶子放入盘子，爪夹松开，使第五个瓶子落入盘子。接着爪夹向爪夹正后方移动下降来到第六个瓶子正上方，下降爪夹合拢，抓取第六个瓶子。抓紧第六个瓶子垂直上升，并向爪夹前方的盘子移动，来到盘子正上方后将第六个瓶子放入盘子，爪夹松开，使第六个瓶子落入盘子。接着爪夹向爪夹右前方移动下降来到第七个瓶子正上方，下降爪夹合拢，抓取第七个瓶子。抓紧第七个瓶子垂直上升，并向爪夹左后方的盘子移动，来到盘子正上方后将第七个瓶子放入盘子，爪夹松开，使第七个瓶子落入盘子。接着爪夹向爪夹左后方移动下降来到小球正上方，下降爪夹合拢，抓取小球。抓紧小球垂直上升，并向爪夹右前方的盘子移动，来到盘子正上方后将小球放入盘子，爪夹松开，使小球落入盘子。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": 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"抓取桌面上的盒子放进右边的水槽里：\n爪夹准备开始移动：0%\n爪夹靠近盒子：20%\n爪夹抓取盒子：40%\n爪夹夹紧盒子靠近水槽：60%\n爪夹夹紧盒子将盒子放到水槽里：80%\n爪夹松开盒子落进水槽：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹正前方移动下降，来到盒子正上方，垂直下降靠近盒子。爪夹合拢抓取盒子，抓紧盒子向爪夹右侧移动升高，来到水槽正上方，将盒子垂直下降放进水槽里。爪夹松开，盒子落入水槽。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离盒子，未开始移动。\n为完成抓取桌面上的盒子放进右边的水槽里的任务应当：爪夹向爪夹正前方移动下降，来到盒子正上方，垂直下降靠近盒子。", + "time": 1.9214089860824741, + "annotations": { + "point_1768182165812": { + "type": "point", + "instances": [ + { + "id": "point_1768182165812_1768182189977_crhgjx2vf", + "x": 0.6475000000000001, + "y": 0.042666666666666665 + } + ] + }, + "point_1768182170667": { + "type": "point", + "instances": [ + { + "id": "point_1768182170667_1768182193213_uidx3z6ji", + "x": 0.7135, + "y": 0.07288888888888889 + } + ] + }, + "bbox_1768182157563": { + "type": "bbox", + "instances": [ + { + 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"correction_plan": "爪夹向爪夹左后方移动下降，来到勺子正上方。爪夹垂直下降靠进勺子，爪夹合拢抓取勺子。抓紧勺子向爪夹右侧的碗移动，移动到碗正上方，垂直下降将勺子放进碗里，移动勺子舀碗中物体，舀出物体后爪夹垂直升高向爪夹右前方纸巾移动，移动到纸巾正上方后，调整爪夹角度使勺子倾斜，将勺子上的物体倒在纸巾上。接着夹紧勺子向爪夹左后方桌面移动来到桌面正上方，爪夹垂直下降将勺子放到桌面上。爪夹松开，勺子落到桌面上。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离勺子，未开始移动。\n为完成抓取勺子，用勺子将碗中的一部分物体舀出，放在纸巾上，接着将勺子放到桌面上的任务应当：爪夹向爪夹左后方移动下降，来到勺子正上方。", + "time": 0, + "annotations": { + "point_1768543585004": { + "type": "point", + "instances": [ + { + "id": "point_1768543585004_1768543627099_dribhjwey", + "x": 0.4625, + "y": 0.6311111111111111 + } + ] + }, + "point_1768543589706": { + "type": "point", + "instances": [ + { + "id": "point_1768543589706_1768543631581_7xf0wsj3w", + "x": 0.7705, + "y": 0.6186666666666667 + } + ] + }, + "bbox_1768543580478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768543580478_1768543645793_lv8nvt49e", + "x": 0.0035000000000000005, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-008/observation.images.wrist_image_left/episode_008640.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-008/observation.images.wrist_image_left/episode_008640.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf2da8f102f2dea2e4748a971854db4dd9d24bf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-008/observation.images.wrist_image_left/episode_008640.json @@ -0,0 +1,668 @@ +{ + "task_description": "爪夹抓取抱枕移动到爪夹左侧沙发上：\n准备开始移动：0%\n爪夹靠近抱枕：20%\n爪夹抓取抱枕：40%\n爪夹抓紧抱枕靠近沙发：60%\n爪夹将抱枕放到沙发上：80%\n爪夹松开抱枕落到沙发上：100%", + "progress_points": [ + { + "time": 0.2630927891752577, + "frame": 8, + "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，远离抱枕，未开始移动。\n为完成抓取抱枕移动到爪夹左侧沙发上的任务应当：爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于抱枕侧面，靠近抱枕一侧边缘。", + 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0000000000000000000000000000000000000000..d755293a310a9cbd2f3e3e363a779959e9263af3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0004/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009663.json @@ -0,0 +1,1162 @@ +{ + "task_description": "拿起橙色的环，把它套在桌子上的物体上。\n准备移动：0%\n爪夹靠近橙色的环：20%\n爪夹抓取橙色的环：40%\n爪夹抓取橙色的环靠近桌子上的物体：60%\n爪夹抓取橙色的环套进桌子上的物体：80%\n爪夹松开，橙色的环套在桌子上的物体上：100%\n", + "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_1768536912962": { + "instances": [ + { + "height": 0.037333333333333406, + "id": "bbox_1768536912962_1768542477405_beilv32lq", + "width": 0.020000000000000018, + "x": 0.6054999999999999, + "y": 0.7004444444444444 + } + ], + "type": "bbox" + }, + "bbox_1768536913225": { + "instances": [ + { + "height": 0.14222222222222228, + "id": "bbox_1768536913225_1768542485014_qcqdef8iy", + "width": 0.1200000000000001, + "x": 0.45249999999999996, + 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36.59439833453608 + }, + { + "action_description": "爪夹下降，抓住橙色的环将其套在桌子上的物体上。", + "annotations": { + "bbox_1768536912962": { + "instances": [ + { + "height": 0.03555555555555559, + "id": "bbox_1768536912962_1768543058494_292260wkz", + "width": 0.025, + "x": 0.5305, + "y": 0.7306666666666667 + } + ], + "type": "bbox" + }, + "bbox_1768536913225": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1768536913225_1768543047166_niz4k4ys1", + "width": 0.12000000000000002, + "x": 0.4545, + "y": 0.7182222222222222 + } + ], + "type": "bbox" + }, + "point_1768536914082": { + "instances": [ + { + "id": "point_1768536914082_1768543061446_q74z0sgjm", + "x": 0.5375, + "y": 0.7555555555555555 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，橙色的环套在桌子上的物体上", + "error_success_analysis": "爪夹下降，橙色的环成功套在桌子上的物体上。", + "frame": 591, + "progress": 80, + "progress_explanation": "当前橙色的环已经套在桌子上的物体上，因此进度提升为80%。", + "state_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..0a55c05ea17ac4f50b24d001c434b0ba634f8fd2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json @@ -0,0 +1,530 @@ +{ + "task_description": "把烤箱架放在烤箱里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近烤箱架：20%\n爪夹抓取烤箱架：40%\n爪夹抓住烤箱架靠近烤箱：60%\n爪夹保持合拢，移动到烤箱的正面：80%\n松开爪夹，使烤箱架进入烤箱里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的下方移动，同时向爪夹的前方移动并调整角度，移动到烤箱架的上方，爪夹向爪夹的下方移动，并合拢爪夹抓住烤箱架，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，将烤箱架前端送入烤箱中，爪夹松开，烤箱架完全进入烤箱中。", + 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"progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的左前方移动同时下降，移动至红色瓶子的正上方，向爪夹的下方移动，并合拢爪夹抓住红色瓶子，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方，爪夹向爪夹的下方移动，将红色瓶子放在另一个瓶子上，松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "", + "frame": 87, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，因此进度为0%。", + "state_description": "当前爪夹张开，没有接触红色瓶子。\n为完成拿起红色瓶子，把它放在另一个瓶子的上面的任务应当：爪夹向爪夹的左前方移动同时下降，移动至红色瓶子的正上方。", + "time": 2.906999, + "annotations": { + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601472395_05wtewscg", + "x": 0.3755, + "y": 0.25422222222222224, + "width": 0.05700000000000003, + "height": 0.22755555555555557 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601476715_zz8mey9at", + "x": 0.36150000000000004, + "y": 0.2222222222222222, + "width": 0.053000000000000026, + "height": 0.2026666666666667 + } + ] + }, + "point_1767598617597": { + "type": 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"point_1767598617765_1767601562282_j6ksnfmk6", + "x": 0.4025, + "y": 0.06222222222222223 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601566595_mbugk8gaw", + "x": 0.3625, + "y": 0.22044444444444444, + "width": 0.04699999999999997, + "height": 0.20444444444444446 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601570522_jw9ap31cg", + "x": 0.34950000000000003, + "y": 0.017777777777777778, + "width": 0.05999999999999996, + "height": 0.21866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹松开，红色瓶子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹张开开，红色瓶子成功落在另一个瓶子上。", + "frame": 546, + "progress": 100, + "progress_explanation": "当前红色瓶子成功落在另一个瓶子上，因此进度提升至100%。", + "state_description": "当前红色瓶子已经落在另一个瓶子上，已经完成拿起红色瓶子，把它放在另一个瓶子的上面的任务。", + "time": 18.192336488144328, + "annotations": { + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601574915_68vfjx2dt", + "x": 0.35150000000000003, + "y": 0.012444444444444445, + "width": 0.06000000000000001, + "height": 0.2222222222222222 + } + ] + }, + "point_1767598617597": { + "type": "point", + "instances": [ + { + "id": "point_1767598617597_1767601576978_ici9b5gkt", + "x": 0.3565, + "y": 0.03733333333333333 + } + ] + }, + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601579755_41ey3hule", + "x": 0.41050000000000003, + "y": 0.035555555555555556 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601586059_phvfbc6hp", + "x": 0.35550000000000004, + "y": 0.21688888888888888, + "width": 0.05699999999999998, + "height": 0.2062222222222222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767598616613", + "name": "红色瓶子" + }, + { + "color": "#FF9800", + "id": "bbox_1767598616788", + "name": "另一个瓶子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767598617597", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767598617765", + "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_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..c506665f260b22a483406d3c8f61d19eda4e1aeb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json @@ -0,0 +1,245 @@ +{ + "task_description": "按炉子左上角的按钮。\n准备移动：0%\n爪夹开始移动：30%\n爪夹靠近按钮：50%\n爪夹合拢，移动到按钮的正前方：80%\n爪夹按住按钮，将按钮打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.096, + "id": "bbox_1767602556485_1767606713163_fsrzrnvud", + "width": 0.06100000000000003, + "x": 0.3755, + "y": 0.29511111111111116 + } + ], + "type": "bbox" + }, + "point_1767602557285": { + "instances": [ + { + "id": "point_1767602557285_1767606716250_3m1x9wobq", + "x": 0.3855, + "y": 0.7217777777777779 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，向爪夹的左前方移动，并合拢爪夹靠近按钮，移动至按钮的正前方，爪夹保持合拢，向爪夹的前方移动，按住按钮，将按钮打开。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的上方抬起，向爪夹的左前方移动，并合拢爪夹靠近按钮，移动至按钮的正前方。", + "time": 0.027113401546391754 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，使爪夹在水平方向上接近炉子左上角的按钮。\n", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.09955555555555556, + "id": "bbox_1767602556485_1767606723363_0b4hvbvcs", + "width": 0.07500000000000004, + "x": 0.3645, + "y": 0.30044444444444446 + } + ], + "type": "bbox" + }, + "point_1767602557125": { + "instances": [ + { + "id": "point_1767602557125_1767606720563_77kvujtio", + "x": 0.3545, + "y": 0.5244444444444445 + } + ], + "type": "point" + }, + "point_1767602557285": { + "instances": [ + { + "id": "point_1767602557285_1767606718787_87r9zdjn9", + "x": 0.41950000000000004, + "y": 0.49244444444444446 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的前方移动，同时略微抬起，并合拢爪夹靠近按钮，移动至按钮的正前方，爪夹保持合拢，向爪夹的前方移动，按住按钮，将按钮打开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时略微抬起，水平方向上成功接近按钮。", + "frame": 24, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上略微接近按钮，因此进度提升为30%。\n", + "state_description": "当前爪夹张开，在水平距离上接近玉米。\n为完成按炉子左上角的按钮的任务应当：爪夹继续向爪夹的前方移动，同时略微抬起，并合拢爪夹靠近按钮，移动至按钮的正前方。", + "time": 1.6 + }, + { + "action_description": "爪夹向爪夹的前方移动，并微微抬升，同时合拢爪夹。", + "annotations": { + "point_1767602557285": { + "instances": [ + { + "id": "point_1767602557285_1767606728355_mv23sxbw4", + "x": 0.3975, + "y": 0.43200000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，靠近按钮，再次向爪夹的上方移动，到炉子左上角的按钮的正前方，爪夹向前移动，将按钮打开。", + "error_success_analysis": "爪夹向爪夹的前方移动，并微微抬升，同时合拢爪夹，水平方向上成功接近炉子左上角的按钮。", + "frame": 92, + "progress": 50, + "progress_explanation": "当前爪夹合拢，与按钮的水平距离进一步缩短，因此进度提升至50%。", + "state_description": "当前爪夹合拢，在水平方向上进一步接近按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的左前方移动，靠近按钮，再次向爪夹的上方移动，到炉子左上角的按钮的正前方。", + "time": 3.0638143747422677 + }, + { + "action_description": "爪夹向爪夹的左前方移动，到达按钮的正前方。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.11200000000000002, + "id": "bbox_1767602556485_1767606732866_wc8lgds2g", + "width": 0.07399999999999998, + "x": 0.3765, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的上方抬升，并向爪夹的前方移动，按向按钮，使按钮打开。", + "error_success_analysis": "爪夹向爪夹的左前方移动，成功移动到按钮的正前方。", + "frame": 172, + "progress": 80, + "progress_explanation": "当前爪夹保持合拢，与按钮的水平距离再次接近，因此进度提升至80%。", + "state_description": "当前爪夹合拢，再次接近按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的上方抬升，并向爪夹的前方移动，按向按钮，使按钮打开。", + "time": 5.72092772628866 + }, + { + "action_description": "爪夹向爪夹的左前方移动，向爪夹的上方微微抬起，到达按钮的上方。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.10844444444444443, + "id": "bbox_1767602556485_1767606736507_zmgbqshyi", + "width": 0.07199999999999998, + "x": 0.3835, + "y": 0.28800000000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，调整爪夹角度，爪夹向爪夹的下方移动，同时向前移动，将按钮打开。", + "error_success_analysis": "爪夹在水平方向上略微远离了按钮，同上一步相比，爪夹需要多一步，才能靠近按钮。", + "frame": 234, + "progress": 60, + "progress_explanation": "当前爪夹略微远离了按钮，因此下降至60%。", + "state_description": "当前爪夹合拢，略微远离了按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的下方移动，并向爪夹的上方抬起，调整爪夹角度，爪夹向爪夹的下方移动，同时向前移动，将按钮打开。", + "time": 7.79962184484536 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整角度。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.09777777777777778, + "id": "bbox_1767602556485_1767606739362_mw20owm1m", + "width": 0.05800000000000005, + "x": 0.3895, + "y": 0.30577777777777776 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方调整角度，并向爪夹的前方移动，到达按钮的正前方，继续向爪夹的前方移动，将按钮打开。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，位于炉子的正上方。", + "frame": 156, + "progress": 70, + "progress_explanation": "当前爪夹在水平方向上位于炉子的正上方，因此进度提升至70%。", + "state_description": "当前爪夹保持合拢，垂直于炉子的正上方。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的下方调整角度，并向爪夹的前方移动，到达按钮的正前方。", + "time": 10.4 + }, + { + "action_description": "爪夹向爪夹的下方调整角度，并向爪夹的前方移动。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.09244444444444448, + "id": "bbox_1767602556485_1767606742954_mqe8vcoxh", + "width": 0.061999999999999965, + "x": 0.3885, + "y": 0.29866666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的前方移动，将按钮打开。", + "error_success_analysis": "爪夹向爪夹的前方移动，成功移动至按钮的正前方。", + "frame": 384, + "progress": 80, + "progress_explanation": "当前爪夹已经移动到按钮的正前方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，位于按钮的正前方。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的前方移动，将按钮打开。", + "time": 12.788487729381442 + }, + { + "action_description": "爪夹向爪夹的前方移动，并将按钮打开。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.10666666666666672, + "id": "bbox_1767602556485_1767606746627_tzroanjor", + "width": 0.06200000000000001, + "x": 0.3875, + "y": 0.29866666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的前方移动，成功按向按钮。", + "frame": 435, + "progress": 100, + "progress_explanation": "当前爪夹成功按向按钮，因此进度提升至100%。", + "state_description": "当前按钮已经打开，已经完成按炉子左上角的按钮的任务。", + "time": 14.48759422628866 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767602556485", + "name": "按钮" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767602557125", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767602557285", + "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_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000058.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..d330c104c6eae10a557fc6dac6fea22aba1c26ea --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000058.json @@ -0,0 +1,1157 @@ +{ + "task_description": "用架子上的勺子搅拌红碗里的东西，然后把勺子放回架子上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近勺子：15%\n爪夹抓取勺子：20%\n爪夹抓住勺子靠近红碗：25%\n爪夹保持合拢，移动到红碗的正上方：30%\n爪夹下降，将勺子放入红碗中：40%\n爪夹保持合拢，从下向左顺时针转动爪夹三圈，搅拌红碗里的东西：60%\n爪夹上升，靠近架子：80%\n爪夹保持合拢，移动到架子的缺口处：90%\n爪夹向前移动，将勺子放回架子上：100%", + "progress_points": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..1a29c5cbe52cc540f749e6ce884e9eaaa58cadcd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json @@ -0,0 +1,590 @@ +{ + "task_description": "拿起药瓶，将药品放在桌子左侧的边缘处。\n开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓住药瓶并接近桌子左侧边缘处：60%\n爪夹保持合拢并移动到桌子左侧边缘处的上方：80%\n爪夹松开，使药瓶落在边缘处的桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766801504320": { + "instances": [ + { + "height": 0.11377777777777778, + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000684.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000684.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8e3ce41ce5b54db49821385d13e0c2e186b52f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000684.json @@ -0,0 +1,494 @@ +{ + "task_description": "把白色的杯子移到桌子的右边。\n开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并靠近桌子右边：60%\n爪夹保持合拢并移动到桌子右边的正上方：80%\n爪夹松开，使杯子落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "调整角度，爪夹向爪夹的下方移动至白色杯子的正上方，下降并抓取白色杯子，抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触杯子。\n为完成把白色的杯子移到桌子的右边的任务应当：调整角度，向爪夹的下方靠近白色杯子。", + "time": 1.7588659793814434, + "annotations": { + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821035730_oclovvzbg", + "x": 0.5755, + "y": 0.8497777777777779, + "width": 0.05899999999999998, + "height": 0.10488888888888886 + } + ] + }, + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821040906_hzalcr0rd", + "x": 0.1625, + "y": 0.512, + "width": 0.539, + "height": 0.47644444444444456 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821050450_q5353iktv", + "x": 0.7025, + "y": 0.42666666666666664 + } + ] + }, + "point_1766817844595": { + "type": "point", + "instances": [ + { + "id": "point_1766817844595_1766821053162_32ncax8e8", + "x": 0.7175, + "y": 0.39822222222222226 + } + ] + } + } + }, + { + "time": 4.694799, + "frame": 141, + "progress": 15, + "action_description": "爪夹调整角度，并向爪夹的下方移动。", + "state_description": "当前爪夹靠近白色杯子，在水平距离上略微接近白色杯子。\n为完成把白色的杯子移到桌子的右边的任务应当：下降爪夹并调整角度，使爪夹接近垂直于桌面。", + "progress_explanation": "当前爪夹已经接近白色杯子，因此进度提升至15%。", + "error_success_analysis": "爪夹成功靠近白色杯子。", + "correction_plan": "下降爪夹并调整角度，使爪夹接近垂直于桌面，爪夹向爪夹的下方移动至白色杯子的正上方，下降并抓取白色杯子，抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使白色杯子落在桌面上。", + "annotations": { + "point_1766817844595": { + "type": "point", + "instances": [ + { + "id": "point_1766817844595_1766821055914_7akbbm2tp", + "x": 0.7085, + "y": 0.5297777777777778 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821058226_ryr4div3g", + "x": 0.6975, + "y": 0.5617777777777778 + } + ] + }, + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821062098_bsv764dq1", + "x": 0.17550000000000004, + "y": 0.5137777777777777, + "width": 0.5210000000000001, + "height": 0.47822222222222227 + } + ] + }, + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821066034_vumz60aib", + "x": 0.5725, + "y": 0.8515555555555555, + "width": 0.06199999999999992, + "height": 0.10133333333333339 + } + ] + } + } + }, + { + "time": 7.986, + "frame": 240, + "progress": 20, + "action_description": "爪夹向下移动，并调整角度，使爪夹垂直于桌面。", + "state_description": "当前爪夹保持张开，垂直于桌子的正上方。\n为完成把白色的杯子移到桌子的右边的任务应当：下降爪夹至杯子的正上方，下降并抓取杯子。", + "progress_explanation": "当前爪夹垂直于桌面，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹下方移动，水平方向上成功接近杯子，并使爪夹垂直于桌面，方便抓取。", + "correction_plan": "爪夹向爪夹的下方移动至白色杯子的正上方，下降并抓取白色杯子，抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使白色杯子落在桌面上。", + "annotations": { + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821077058_rvrdpvsb4", + "x": 0.17450000000000002, + "y": 0.5102222222222222, + "width": 0.523, + "height": 0.48000000000000004 + } + ] + }, + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821080410_2dbcqz11f", + "x": 0.5715, + "y": 0.8551111111111112, + "width": 0.06400000000000006, + "height": 0.10133333333333322 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821083218_rqy1swna2", + "x": 0.6015, + "y": 0.7733333333333334 + } + ] + }, + "point_1766817844595": { + "type": "point", + "instances": [ + { + "id": "point_1766817844595_1766821085122_or0cw6g5q", + "x": 0.6115, + "y": 0.704 + } + ] + } + } + }, + { + "time": 12.287113402061854, + "frame": 369, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，移动至杯子的正上方。", + "state_description": "当前爪夹张开，到达杯子的正上方。\n为完成把白色的杯子移到桌子的右边的任务应当：下降并抓取杯子，抬起爪夹，向爪夹的右边移动，到达桌子中间的正上方。", + "progress_explanation": "当前爪夹已成功移动至杯子的正上方，因此进度为30%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近玉米，到达玉米的正上方，准备抓取。", + "correction_plan": "下降并抓取白色杯子，抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使白色杯子落在桌面上。", + "annotations": { + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821096242_p86ta40yz", + "x": 0.12150000000000001, + "y": 0.5066666666666667, + "width": 0.5820000000000001, + "height": 0.48711111111111105 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821132714_2mi7r7rp3", + "x": 0.6125, + "y": 0.8871111111111112 + } + ] + }, + "point_1766817844595": { + "type": "point", + "instances": [ + { + "id": "point_1766817844595_1766821134946_lff921rxu", + "x": 0.6025, + "y": 0.8106666666666668 + } + ] + }, + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821138786_vsvwsm9k2", + "x": 0.5755, + "y": 0.8497777777777779, + "width": 0.06000000000000005, + "height": 0.11555555555555547 + } + ] + } + } + }, + { + "time": 15.3186, + "frame": 460, + "progress": 40, + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取杯子。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到杯子。\n为完成把白色的杯子移到桌子的右边的任务应当：抬起爪夹，向爪夹的右边移动，到达桌子中间的正上方。", + "progress_explanation": "当前爪夹已成功抓取杯子，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到杯子。", + "correction_plan": "抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使白色杯子落在桌面上。", + "annotations": { + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821142977_x3kbgg3pe", + "x": 0.5535, + "y": 0.8533333333333333, + "width": 0.05899999999999998, + "height": 0.09777777777777791 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821145305_696r6wyep", + "x": 0.5875, + "y": 0.9013333333333334 + } + ] + }, + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821150385_2cslpqnsn", + "x": 0.2015, + "y": 0.5102222222222222, + "width": 0.49499999999999994, + "height": 0.48177777777777775 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右边移动，靠近桌子的右边。", + "correction_plan": "爪夹移动到桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使白色杯子落在桌面上。", + "error_success_analysis": "爪夹已经抓取到杯子，并且在向着桌子右边移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 522, + "progress": 60, + "progress_explanation": "当前爪夹正在靠近桌子右边，因此进度提升至60%。", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成把白色的杯子移到桌子的右边的任务应当：向爪夹的右边移动，到达桌子右边的正上方。", + "time": 17.401546391752575, + "annotations": { + "bbox_1766817843339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817843339_1766821160177_qx1hdlr3y", + "x": 0.20249999999999999, + "y": 0.5084444444444445, + "width": 0.49499999999999994, + "height": 0.4800000000000001 + } + ] + }, + "point_1766817844291": { + "type": "point", + "instances": [ + { + "id": "point_1766817844291_1766821163041_b5z1r28vw", + "x": 0.5795, + "y": 0.760888888888889 + } + ] + }, + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821166641_mykehbjf2", + "x": 0.5515, + 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{ + "bbox_1766821402863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821402863_1766823630245_e23wuync3", + "x": 0.44750000000000006, + "y": 0.45333333333333337, + "width": 0.23699999999999993, + "height": 0.46577777777777774 + } + ] + }, + "bbox_1766821402559": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821402559_1766823634269_tz0tati8g", + "x": 0.5985, + "y": 0.49244444444444446, + "width": 0.03599999999999994, + "height": 0.11555555555555554 + } + ] + }, + "point_1766821403919": { + "type": "point", + "instances": [ + { + "id": "point_1766821403919_1766823637389_66ntldgm9", + "x": 0.6005, + "y": 0.5137777777777778 + } + ] + }, + "point_1766821404207": { + "type": "point", + "instances": [ + { + "id": "point_1766821404207_1766823639445_6d1ykwx54", + "x": 0.6355000000000001, + "y": 0.5297777777777778 + } + ] + } + } + }, + { + "time": 9.716666, + "frame": 291, + "progress": 80, + "action_description": "爪夹向爪夹的右后方移动，到达洗碗机右侧的正上方。", + "state_description": 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"bbox_1766821402559", + "name": "玻璃瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1766821402863", + "name": "洗碗机", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766821403919", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766821404207", + "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_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json new file mode 100644 index 0000000000000000000000000000000000000000..491b659556b48703cb69db8d44a19ae2ab2a23fc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json @@ -0,0 +1,262 @@ +{ + "task_description": "打开机器的盖子\n开始移动：0%\n靠近机器：20%\n爪夹抓住盖子：50%\n爪夹抓住盖子并上升：70%\n爪夹松开，盖子打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，没有移动。", + "annotations": { + "bbox_1766824835209": { + "instances": [ + { + "height": 0.07644444444444444, + "id": "bbox_1766824835209_1767075553846_k6m5su7xo", + "width": 0.12800000000000003, + "x": 0.34450000000000003, + "y": 0.09422222222222222 + } + ], + "type": "bbox" + }, + "bbox_1766824876857": { + "instances": [ + { + "height": 0.608, + "id": "bbox_1766824876857_1767075557446_9hw79r60e", + "width": 0.31199999999999994, + "x": 0.3345, + "y": 0.06577777777777778 + } + ], + "type": "bbox" + }, + "point_1766824836385": { + "instances": [ + { + "id": "point_1766824836385_1767075560230_7mmq8cjry", + "x": 0.14750000000000002, + "y": 0.044444444444444446 + } + ], + "type": "point" + }, + "point_1766824837345": { + "instances": [ + { + "id": "point_1766824837345_1767075562430_knmld1jdj", + "x": 0.2265, + "y": 0.021333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "调整角度，向爪夹的前方移动，并向下移动，靠近盖子，爪夹向爪夹的前方移动，到达机器的面前，爪夹下降并抓住盖子，抬起爪夹，向爪夹的上方移动，然后松开爪夹，盖子打开。", + "error_success_analysis": "", + "frame": 184, + "progress": 0, + "progress_explanation": "当前爪夹张开，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触盖子。\n为完成打开机器的盖子的任务应当：调整角度，向爪夹的前方移动，并向下移动，靠近盖子。", + "time": 6.144533 + }, + { + "action_description": "爪夹向爪夹的下方移动，并靠近机器。", + "annotations": { + "bbox_1766824835209": { + "instances": [ + { + "height": 0.11733333333333335, + "id": "bbox_1766824835209_1766824914568_r80356mtj", + "width": 0.12699999999999995, + "x": 0.34950000000000003, + "y": 0.07288888888888889 + } + ], + "type": "bbox" + }, + "bbox_1766824876857": { + "instances": [ + { + "height": 0.5884444444444444, + "id": "bbox_1766824876857_1766824887305_cby2efbvn", + "width": 0.31399999999999995, + "x": 0.3405, + "y": 0.09244444444444445 + } + ], + "type": "bbox" + }, + "point_1766824837345": { + "instances": [ + { + "id": "point_1766824837345_1766824928760_dz62e8n25", + "x": 0.3385, + "y": 0.016 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的前方移动，到达机器的面前，爪夹下降并抓住盖子，抬起爪夹，向爪夹的上方移动，然后松开爪夹，盖子打开。", + "error_success_analysis": "", + "frame": 224, + "progress": 10, + "progress_explanation": "当前爪夹正在靠近机器，因此进度提上至10%。", + "state_description": "当前爪夹在水平距离上接近机器。\n为完成打开机器的盖子的任务应当：向爪夹的前方移动，到达机器的面前。", + "time": 7.456533 + }, + { + "time": 10.058666, + "frame": 302, + "progress": 25, + "action_description": "爪夹向爪夹的下方移动。", + "state_description": "当前爪夹位于机器的盖子的斜上方。\n为完成打开机器的盖子的任务应当：向爪夹的前方移动的同时下降，并合拢抓住盖子。", + "progress_explanation": "当前爪夹在水平方向上位于盖子的斜上方，因此进度提升至25%。", + "error_success_analysis": "爪夹向爪夹的下方移动，在水平方向上已经位于盖子的斜上方。", + "correction_plan": "向爪夹的前方移动的同时下降，并合拢抓住盖子，爪夹垂直抬起，向爪夹的上方移动，然后松开爪夹，盖子打开。" + }, + { + "action_description": "爪夹向爪夹的前方移动的同时下降，并合拢爪夹。", + "annotations": { + "bbox_1766824876857": { + "instances": [ + { + "height": 0.6026666666666667, + "id": "bbox_1766824876857_1766824921200_v41ngm5wq", + 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"action_description": "爪夹保持合拢，向爪夹的上方移动。", + "annotations": { + "bbox_1766824835209": { + "instances": [ + { + "height": 0.1297777777777778, + "id": "bbox_1766824835209_1766824944608_sb0sy3f58", + "width": 0.135, + "x": 0.3265, + "y": 0.014222222222222223 + } + ], + "type": "bbox" + }, + "bbox_1766824876857": { + "instances": [ + { + "height": 0.6773333333333333, + "id": "bbox_1766824876857_1766824940672_23duc5juk", + "width": 0.35500000000000004, + "x": 0.3015, + "y": 0.010666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上移动至机器的正上方，松开爪夹，使盖子打开。", + "error_success_analysis": "爪夹成功抓住盖子并向机器的正上方移动。", + "frame": 522, + "progress": 70, + "progress_explanation": "当前爪夹位于机器的上方，因此进度提升至70%。", + "state_description": "爪夹保持合拢，位于机器的上方。\n为完成打开机器的盖子的任务应当：爪夹向上移动至机器的正上方，松开爪夹，使盖子打开。", + "time": 17.384 + }, + { + "action_description": "爪夹向上移动至机器的正上方，松开爪夹，使盖子打开。", + "annotations": { + "bbox_1766824835209": { + "instances": [ + { + "height": 0.14755555555555555, + "id": "bbox_1766824835209_1766824949912_p8j1ihyd8", + "width": 0.12199999999999997, + "x": 0.3325, + "y": 0.0035555555555555557 + } + ], + "type": "bbox" + }, + "bbox_1766824876857": { + "instances": [ + { + "height": 0.6951111111111111, + "id": "bbox_1766824876857_1766824954136_04nybcu3g", + "width": 0.34500000000000003, + "x": 0.3045, + "y": 0.008888888888888889 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "盖子成功打开。", + "frame": 582, + "progress": 100, + "progress_explanation": "当前盖子已经成功打开，因此进度提升至100%。", + "state_description": "当前盖子已经打开，已经完成打开机器盖子的任务。", + "time": 19.398213354123712 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766824835209", + "name": "盖子" + }, + { + "color": "#FF9800", + "id": "bbox_1766824876857", + "name": "机器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766824836385", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766824837345", + "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_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json new file mode 100644 index 0000000000000000000000000000000000000000..89c7cf3e2762484e54aa5a1ec09da28b86216704 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json @@ -0,0 +1,326 @@ +{ + "task_description": "打开炉子\n开始移动：0%\n靠近炉子：30%\n爪夹到达炉子开关的前方：60%\n爪夹抓住开关并转动：90%\n炉子打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10844444444444443, + "id": "bbox_1766827247841_1766827275560_12hnlprcm", + "width": 0.10599999999999996, + "x": 0.6245, + "y": 0.256 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8195555555555556, + "id": "bbox_1766827248489_1766827279616_a9wyks7jt", + "width": 0.59, + "x": 0.1805, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827282368_vdgwowbv6", + "x": 0.3265, + "y": 0.7093333333333334 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827284384_fglmlgf3s", + "x": 0.4265, + "y": 0.7751111111111112 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的前方移动靠近炉子的开关，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前爪夹张开，没有移动。\n为完成打开炉子的任务应当：向爪夹的前方移动靠近炉子的开关。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的前方移动，靠近开关。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.1137777777777778, + "id": "bbox_1766827247841_1766827302944_ugm75b1iv", + "width": 0.09800000000000005, + "x": 0.6305, + "y": 0.2524444444444444 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8142222222222222, + "id": "bbox_1766827248489_1766827294648_g0jkavrxg", + "width": 0.64, + "x": 0.14750000000000002, + "y": 0.18133333333333335 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827297448_auazs7ruw", + "x": 0.4465, + "y": 0.5617777777777778 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827299744_dmur616rr", + "x": 0.5155000000000001, + "y": 0.5368888888888889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹在水平距离上接近开关。", + "frame": 33, + "progress": 10, + "progress_explanation": "当前爪夹正在靠近开关。因此进度提上至10%。", + "state_description": "当前爪夹在水平距离上接近开关。\n为完成打开炉子的任务应当：到达炉子的开关的前方，爪夹合拢抓住开关。", + "time": 1.110618556701031 + }, + { + "action_description": "爪夹向爪夹的前方移动，并合拢。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10666666666666669, + "id": "bbox_1766827247841_1766827306336_wntyer462", + "width": 0.10899999999999999, + "x": 0.6265000000000001, + "y": 0.26666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8444444444444444, + "id": "bbox_1766827248489_1766827315184_iux8imu88", + "width": 0.609, + "x": 0.1695, + "y": 0.14044444444444446 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827308632_zctb9n63y", + "x": 0.5075000000000001, + "y": 0.4231111111111111 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827310976_wva38a90x", + "x": 0.5215, + "y": 0.42133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有靠近开关，而是合拢。", + "frame": 82, + "progress": 5, + "progress_explanation": "当前爪夹合拢，同上一步比，爪夹需要多一步松开爪夹的步骤才能靠近开关，因此进度下降至5%。", + "state_description": "当前爪夹合拢，位于炉子的上方。\n为完成打开炉子的任务应当：松开爪夹，重新向炉子开关靠近。", + "time": 2.7468 + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.09777777777777782, + "id": "bbox_1766827247841_1766827324464_nlbdj8ac5", + "width": 0.09699999999999998, + "x": 0.6285000000000001, + "y": 0.26311111111111113 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8551111111111112, + "id": "bbox_1766827248489_1766827320040_g5fzjb4fq", + "width": 0.622, + "x": 0.15350000000000003, + "y": 0.128 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有松开，重新靠近开关，而是继续向爪夹的前方移动。", + "frame": 148, + "progress": -10, + "progress_explanation": "当前爪夹合拢，远离了开关，因此进度下降至-10%。", + "state_description": "当前爪夹保持合拢，并远离了开关。\n为完成打开炉子的任务应当：松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方。", + "time": 4.9266 + }, + { + "action_description": "爪夹向爪夹的左侧移动，再次远离了开关。", + "correction_plan": "调整爪夹角度，向爪夹右侧移动，到达开关的正前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有向爪夹的右侧移动至开关的正前方，而是继续向爪夹的左侧移动。", + "frame": 243, + "progress": -15, + "progress_explanation": "当前爪夹再次远离了开关，因此进度下降至-15%。", + "state_description": "当前爪夹保持合拢，在水平方向上又远离了开关。\n为完成打开炉子的任务应当：调整爪夹角度，向爪夹右侧移动，到达开关的正前方。", + "time": 8.112061855670104 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的后方移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10488888888888895, + "id": "bbox_1766827247841_1767174974242_65aqre7cx", + "width": 0.096, + "x": 0.6315000000000001, + "y": 0.2524444444444444 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + 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"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_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json new file mode 100644 index 0000000000000000000000000000000000000000..66b8af4d25bc76fa2fedeb23f0d7ed82d0825c10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起马克笔，把它放进白色碗里。\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爪夹抓住马克笔并接近白色碗：60%\n爪夹保持合拢并移动到白色碗的上方：80%\n爪夹松开，使马克笔落在白色碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹调整角度，向爪夹的下后方靠近马克笔，到达马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触马克笔。\n为完成拿起马克笔，把它放进白色碗里的任务应当：爪夹调整角度，向爪夹的下后方靠近马克笔。", + "time": 1.360481131443299, + "annotations": { + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973367181_fqwo9yi2u", + "x": 0.5495, + "y": 0.5635555555555556, + "width": 0.04400000000000004, + "height": 0.22044444444444447 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973369972_fyz9ofvh5", + "x": 0.4615, + "y": 0.6524444444444444 + } + ] + }, + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973372804_q3zaxe0hl", + "x": 0.7685000000000001, + "y": 0.6435555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向下后方微调角度，使爪夹接近垂直于桌面。", + "correction_plan": "调整角度，至垂直于桌面，向爪夹的下后方靠近马克笔，到达马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹方向的下后方移动，水平方向上成功接近黄瓜。", + "frame": 35, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近马克笔，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平距离上略微接近马克笔。\n为完成拿起马克笔，把它放进白色碗里的任务应当：调整角度，至垂直于桌面，下降至马克笔的正上方。", + "time": 2.3333333333333335, + "annotations": { + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973376276_gt1oypnaz", + "x": 0.7685000000000001, + "y": 0.6506666666666667 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973379708_fpj3kth7p", + "x": 0.46349999999999997, + "y": 0.656 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973384324_o8aq7c1sk", + "x": 0.5305, + "y": 0.43377777777777776, + "width": 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"当前爪夹张开，到达马克笔的正上方。\n为完成拿起马克笔，把它放进白色碗里的任务应当：下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动。", + "time": 6.133333333333334, + "annotations": { + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973414700_o2ynae7bt", + "x": 0.7675, + "y": 0.6471111111111111 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973417188_r7ybah3ni", + "x": 0.4625, + "y": 0.6506666666666667 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973421332_hn82qs5ko", + "x": 0.5795, + "y": 0.14400000000000002, + "width": 0.06900000000000003, + "height": 0.7093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取马克笔。", + "correction_plan": "抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取马克笔。\n", + "frame": 109, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取马克笔，因此进度提升为40%。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005049.json new file mode 100644 index 0000000000000000000000000000000000000000..b710ae3a75cc5ec272f2db5ba34b2a3234258679 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005049.json @@ -0,0 +1,370 @@ +{ + "task_description": "拿起红色物体，将红色物体移到帽子旁边的桌子边缘：\n爪夹开始移动：0%\n爪夹靠近红色物体：20%\n爪夹抓取红色物体：40%\n爪夹抓住红色物体并接近桌子边缘：60%\n爪夹将红色物体放到桌子边缘：80%\n爪夹松开，使红色物体落至桌子边缘：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "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，到达红色物体正上方后下降，抓取红色物体后竖直上升，向爪夹方向的右后方移动，直至红色物体处于桌子边缘正上方。下降将红色物体放在桌子边缘，松开爪夹，使红色物体落到桌子边缘。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成抓起红色物体使其落到桌子边缘的任务应当：向爪夹方向的左前方移动，接近红色物体。", + "time": 0.5258107900668247, + "annotations": { + "bbox_1766821453301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821453301_1766821476131_0jgke4hli", + "x": 0.3781110609063073, + "y": 0.5575555419921875, + "width": 0.5099999688720723, + "height": 0.4000000000000001 + } + ] + }, + "point_1766821454221": { + "type": "point", + "instances": [ + { + "id": "point_1766821454221_1766821485120_g64shcivd", + "x": 0.47411105504693263, + "y": 0.4467407362196181 + } + ] + }, + "point_1766821454327": { + "type": "point", + "instances": [ + { + "id": "point_1766821454327_1766821486784_equ6yn5uk", + "x": 0.5181110523613859, + "y": 0.4271851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达红色物体正上方后下降，抓取红色物体后竖直上升，向爪夹方向的右后方移动，直至红色物体处于桌子边缘正上方。下降将红色物体放在桌子边缘，松开爪夹，使红色物体落到桌子边缘。", + "error_success_analysis": "爪夹成功向爪夹方向的左前方移动并下降，成功拉近与红色物体的距离。", + "frame": 109, + "progress": 10, + "progress_explanation": "当前爪夹与红色物体距离拉近，因此进度提升至10%", + "state_description": "当前状态为爪夹打开，水平靠近红色物体。\n为完成抓起红色物体使其落到桌子边缘的任务应当：继续向爪夹方向的左前方移动，下降接近红色物体。", + "time": 3.6471163823252013, + "annotations": { + "point_1766821454221": { + "type": "point", + "instances": [ + { + "id": "point_1766821454221_1766821489828_0zuem8spc", + "x": 0.4711110552300381, + "y": 0.5077777642144098 + } + ] + }, + "point_1766821454327": { + "type": "point", + "instances": [ + { + "id": "point_1766821454327_1766821491764_es6oikv8v", + "x": 0.498111053582089, + "y": 0.5338518473307292 + } + ] + }, + "bbox_1766821453301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821453301_1766821501635_ejf0wg7bl", + "x": 0.37911106084527213, + "y": 0.5605185139973958, + "width": 0.5189999683227559, + "height": 0.3982222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "向爪夹方向的前方移动，到达红色物体正上方后下降，抓取红色物体后竖直上升，向爪夹方向的右后方移动，直至红色物体处于桌子边缘正上方。下降将红色物体放在桌子边缘，松开爪夹，使红色物体落到桌子边缘。", + "error_success_analysis": "爪夹成功进一步拉近与红色物体的距离。", + "frame": 202, + "progress": 20, + "progress_explanation": "爪夹与红色物体距离进一步拉近。因此进度提升至20%。", + "state_description": "当前状态为爪夹打开，水平与红色物体距离更加接近。\n为完成抓起红色物体使其落到桌子边缘的任务应当：继续向爪夹方向的左前方移动，下降接近红色物体。", + "time": 6.728147063715729, + "annotations": { + "point_1766821454221": { + "type": "point", + "instances": [ + { + "id": "point_1766821454221_1766821505870_ga4jut7z9", + "x": 0.5271110518120696, + "y": 0.617999986436632 + } + ] + }, + "point_1766821454327": { + "type": "point", + "instances": [ + { + "id": "point_1766821454327_1766821507764_aw0mhqzyv", + "x": 0.5421110508965422, + "y": 0.6191851806640626 + } + ] + }, + "bbox_1766821453301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821453301_1766821514013_ag1zky63y", + "x": 0.37911106084527213, + "y": 0.5587407362196181, + "width": 0.5209999682006856, + "height": 0.40177777777777773 + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005172.json @@ -0,0 +1,356 @@ +{ + "task_description": "移动爪夹，将水龙头转到水槽中央：\n爪夹开始移动：0%\n爪夹靠近水龙头：25%\n爪夹抓住水龙头：50%\n爪夹抓住水龙头向水槽中间转动：70%\n爪夹将水龙头转至水槽中间：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右下方移动，到达水龙头正上方后下降，抓住水龙头，向爪夹方向的右方移动，将水龙头转至水槽中间。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成移动爪夹，将水龙头转到水槽中央的任务应当：向爪夹方向的右下方移动至水龙头的正上方。", + "time": 0.6324547707115081, + "annotations": { + "bbox_1766822890700": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766822890700_1766822918654_c2ucoof6b", + "x": 0.6051110470513276, + "y": 0.4384444308810764, + "width": 0.19299998822021563, + "height": 0.3182222222222223 + } + ] + }, + "bbox_1766822890816": { + "type": "bbox", + 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"color": "#2196F3" + }, + { + "id": "point_1766822891517", + "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_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005338.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005338.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd794f7c2986ad8cc48e5fc29adf0151e8faf7e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005338.json @@ -0,0 +1,438 @@ +{ + "task_description": "拿起罐子，把它放进水槽里：\n爪夹开始移动：0%\n爪夹靠近罐子：20%\n爪夹抓取罐子：40%\n爪夹抓住罐子并接近水槽：60%\n爪夹将罐子放入水槽中：80%\n爪夹松开，使罐子落入水槽中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。向爪夹方向的前方移动，到达罐子正上方后下降，抓取罐子后竖直上升，向爪夹方向的右方移动，直至罐子处于水槽正上方。下降将罐子放入水槽中，松开爪夹，使罐子落入水槽中。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起罐子，把它放进水槽里的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的前方移动至罐子的正上方。", + "time": 0.371705959100659, + "annotations": { + "bbox_1766826409445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766826409445_1766826442091_5qn8lh0sy", + "x": 0.30766660719808303, + "y": 0.6883209635416667, + "width": 0.5619999656982443, + "height": 0.272 + } + ] + }, + "bbox_1766826409565": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766826409565_1766826447988_zmqmcsq4n", + "x": 0.29466660799154, + "y": 0.7114320746527778, + "width": 0.03299999798583997, + "height": 0.11377777777777773 + } + ] + }, + "point_1766826410232": { + "type": "point", + "instances": [ + { + "id": "point_1766826410232_1766826450185_5p0lodgyg", + "x": 0.19266661421712558, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005482.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005482.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ba093f868449bcb1c17a46db50804b3ab55c48 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005482.json @@ -0,0 +1,478 @@ +{ + "task_description": "爪夹拿起网球，将其放入透明杯子中：\n爪夹开始移动：0%\n爪夹靠近网球：20%\n爪夹抓取网球：50%\n爪夹抓住网球并接近透明杯子：80%\n爪夹松开，使网球落入透明杯子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。向爪夹方向的右前方移动，到达网球正上方后下降，抓取网球后竖直上升，向爪夹方向的左方移动，直至网球处于透明杯子正上方。下降将网球放入透明杯子中，松开爪夹，使网球落入透明杯子中。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹拿起网球，将其放入透明杯子中的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的右前方移动至网球的正上方。", + "time": 0.46240498258264395, + "annotations": { + "bbox_1766827664996": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766827664996_1766827686345_49gzzyzum", + "x": 0.3376666053670284, + "y": 0.5834320746527778, + "width": 0.0759999953613284, + "height": 0.18133333333333335 + } + ] + }, + "bbox_1766827665105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766827665105_1766827689120_rsf38d2fo", + "x": 0.3976666017049193, + "y": 0.6225431857638889, + "width": 0.03399999792480477, + "height": 0.0782222222222222 + } + ] + }, + "point_1766827665699": { + "type": "point", + "instances": [ + { + "id": "point_1766827665699_1766827691049_3pfh6to3g", + "x": 0.707666582784022, + "y": 0.14787651909722224 + } + ] + }, + "point_1766827665822": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005793.json new file mode 100644 index 0000000000000000000000000000000000000000..da70d102a7c79a4d1da4732138798bc45a8bc276 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005793.json @@ -0,0 +1,484 @@ +{ + "task_description": "拿起紫色物体，把它放进碗里：\n爪夹开始移动：0%\n爪夹靠近紫色物体：20%\n爪夹抓取紫色物体：40%\n爪夹抓住紫色物体并接近碗：60%\n爪夹将紫色物体放入碗中：80%\n爪夹松开，使紫色物体落入碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，到达紫色物体正上方后下降，抓取紫色物体后竖直上升，向爪夹方向的左方移动，直至紫色物体处于碗的正上方。下降将紫色物体放入碗中，松开爪夹，使紫色物体落入碗中。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.wrist_image_left/episode_005511.json new file mode 100644 index 0000000000000000000000000000000000000000..61d745777b656a5d326b1aedfd0fd89eb2e9f152 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.wrist_image_left/episode_005511.json @@ -0,0 +1,609 @@ +{ + "task_description": "拿起绿色杯子，把薯条倒在盘子上：\n爪夹开始移动：0%\n爪夹靠近绿色杯子：20%\n爪夹抓取绿色杯子：40%\n爪夹抓住绿色杯子并接近盘子：60%\n爪夹将绿色杯子旋转90°：80%\n爪夹继续旋转直至薯条掉落：90%\n爪夹往回旋转看到薯条掉落至盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左后方移动，到达绿色杯子正上方后下降，抓取绿色杯子后竖直上升，向爪夹方向的右后方移动，直至绿色杯子处于盘子上方。向爪夹方向的右后方旋转爪夹，直至薯条掉落，随后向爪夹方向的左前方旋转爪夹，直至看到薯条掉落盘子上。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起绿色杯子，把薯条倒在盘子上的任务应当：向爪夹方向的左后方移动，到达绿色杯子正上方后下降。", + "time": 0.7132177187087403, + "annotations": { + "point_1766979070049": { + "type": "point", + "instances": [ + { + "id": "point_1766979070049_1766979105700_83t4im9lo", + "x": 0.445666598775232, + "y": 0.6278765190972222 + } + ] + }, + "point_1766979070175": { + "type": "point", + "instances": [ + { + "id": "point_1766979070175_1766979107329_15u2oxfth", + "x": 0.7826665782063855, + "y": 0.6865431857638888 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "继续向爪夹方向的左后方移动，到达绿色杯子正上方后下降，抓取绿色杯子后竖直上升，向爪夹方向的右后方移动，直至绿色杯子处于盘子上方。向爪夹方向的右后方旋转爪夹，直至薯条掉落，随后向爪夹方向的左前方旋转爪夹，直至看到薯条掉落盘子上。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近绿色杯子。", + "frame": 89, + "progress": 10, + "progress_explanation": "爪夹在水平方向上略微接近绿色杯子。因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与绿色杯子水平距离拉近。\n为完成拿起绿色杯子，把薯条倒在盘子上的任务应当：继续向爪夹方向的左后方移动，到达绿色杯子正上方后下降。", + "time": 2.97727252779437, + "annotations": { + 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