diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000376.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..352b6b33049a8ddae87caf25cc9c0ee45ffe583e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000376.json @@ -0,0 +1,394 @@ +{ + "task_description": "把螺丝刀放进抽屉里并关上它。\n开始移动0%\n爪夹靠近螺丝刀20%\n爪夹抓取螺丝刀40%\n爪夹抓取螺丝刀接近抽屉60%\n爪夹松开，螺丝刀落入抽屉80%\n爪夹关闭抽屉100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态向下移动进入画面", + "annotations": { + "bbox_1767058059070": { + "instances": [ + { + "height": 0.06577777777777775, + "id": "bbox_1767058059070_1767064146505_fgqzc9qqz", + "width": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000416.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..bda94968a430b1088cd607f0981131ebc11422d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000416.json @@ -0,0 +1,335 @@ +{ + "task_description": "打开右上角的柜子\n开始移动0%\n爪夹开始向柜子把手移动20%\n爪夹靠近柜子把手40%\n爪夹抓取柜子把手60%\n爪夹抓取柜子把手拉开80%\n爪夹打开，柜子打开100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767065660759": { + "instances": [ + { + "height": 0.09244444444444445, + "id": "bbox_1767065660759_1767066142431_3wgyhahvt", + "width": 0.040000000000000036, 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0000000000000000000000000000000000000000..a22992799317c54379ccf5f94cebea8e59528061 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000065.json @@ -0,0 +1,201 @@ +{ + "task_description": "将剃须刀放在柜台的左上角\n开始移动0%\n爪夹靠近剃须刀20%\n爪夹抓取剃须刀40%\n爪夹抓取剃须刀向柜台左上角移动60%\n爪夹向下靠近左上角80%\n爪夹松开，剃须刀落在柜台左上角100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767074029978": { + "instances": [ + { + "height": 0.07466666666666673, + "id": "bbox_1767074029978_1767074541942_3x6v5qkiv", + "width": 0.06500000000000003, + "x": 0.5165, + "y": 0.5013333333333333 + } + ], + "type": "bbox" + }, + "point_1767074039017": { + "instances": [ + { + "id": "point_1767074039017_1767074534576_dnd7czhl9", + "x": 0.48650000000000004, + "y": 0.1031111111111111 + } + ], + "type": "point" + }, + "point_1767074125168": { + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000375.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b3796ea89aebb7ee5946be2116dd618ae6db32 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000375.json @@ -0,0 +1,695 @@ +{ + "task_description": "用布把桌子上的物体往左推，然后把它放进盒子里\n开始移动0%\n爪夹抓取布20%\n爪夹抓取布靠近桌子上的物体40%\n爪夹抓取布将桌子上的物体推到左侧60%\n爪夹抓取布靠近盒子80%\n爪夹松开，布落入盒子里100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000905.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000905.json new file mode 100644 index 0000000000000000000000000000000000000000..efc238ef8d4d30206199b0e2635a491fe9a3e333 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000905.json @@ -0,0 +1,704 @@ +{ + "task_description": "把勺子从碗里移到杯子里\n开始移动0%\n爪夹靠近碗里的勺子20%\n爪夹抓取碗里的勺子40%\n爪夹抓取碗里的勺子接近杯子60%\n爪夹将勺子放入杯子80%\n爪夹张开，勺子落入杯子中100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "爪夹向爪夹方向的前方移动至勺子的上方，并竖直下降，爪夹闭合抓取锤子后竖直上升，继续向爪夹方向的右方移动，直至勺子处于杯子的正上方。后爪夹竖直下落将勺子放入杯子中，松开爪夹。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005859.json @@ -0,0 +1,458 @@ +{ + "task_description": "打开烤箱门\n开始移动0%\n爪夹靠近烤箱门20%\n爪夹抓取烤箱门把手40%\n爪夹打开烤箱门60%\n爪夹向下继续打开烤箱门80%\n爪夹抽离烤箱门，烤箱门被完全打开100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左下方的烤箱门，同时调整角度使其正对烤箱门把手，接着向下抓取烤箱门把手，之后保持爪夹合拢状态向下移动将烤箱门打开，继续向下直至烤箱门把手完全打开后抽离爪夹。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离烤箱门，未开始移动。\n为完成打开烤箱门的任务应当：向左下方烤箱门移动，同时调整爪夹的角度使其正对烤箱门把手", + "time": 0.927, + "annotations": { + "bbox_1767171114769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171114769_1767171147209_5hkovyjgx", + "x": 0.6345, + "y": 0.37333333333333335, + "width": 0.363, + "height": 0.3804444444444445 + } + ] + }, + "bbox_1767171114937": { + "type": "bbox", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005513.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005513.json new file mode 100644 index 0000000000000000000000000000000000000000..259937bcaf2c03e077e5d89527578975f8a13f40 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005513.json @@ -0,0 +1,504 @@ +{ + "task_description": "将绿色木块移到木托盘的右边\n开始移动0%\n爪夹靠近绿色木块20%\n爪夹抓取绿色木块40%\n爪夹抓住绿色木块向木托盘右边移动60%\n爪夹下降将绿色木块放至桌子80%\n爪夹松开，绿色木块被移至木托盘右边100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右下方移动至绿色木块，下降并抓取绿色木块，抓紧绿色木块，保持爪夹合拢状态抬升并向爪夹方向右方移动，至完全离开木托盘范围后下降，下降至桌面位置张开爪夹，松开绿色木块，使绿色木块落下。", + "error_success_analysis": "", + "frame": 7, 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file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005981.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005981.json new file mode 100644 index 0000000000000000000000000000000000000000..95aa9496bb532a8aea05588550104e302aeee9ff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005981.json @@ -0,0 +1,507 @@ +{ + "task_description": "将玻璃瓶放在盘子和灰色罐子之间\n开始移动：0%\n爪夹接近玻璃瓶：20%\n爪夹抓紧玻璃瓶：40%\n移动玻璃瓶：60%\n将玻璃瓶放到盘子和灰色罐子之间：80%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张卡，未开始移动。", + "annotations": { + "bbox_1767147179271": { + "instances": [ + { + "height": 0.13511111111111107, + "id": "bbox_1767147179271_1767160065630_43l51yfc6", + "width": 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.wrist_image_left/episode_005812.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.wrist_image_left/episode_005812.json new file mode 100644 index 0000000000000000000000000000000000000000..a85889444c888813f06be0a497067d3853df9327 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.wrist_image_left/episode_005812.json @@ -0,0 +1,459 @@ +{ + "task_description": "把条纹衬衫从椅子上搬到沙发上\n开始移动：0%\n爪夹靠近条纹衬衫：25%\n抓紧条纹衬衫：50%\n移动条纹衬衫：75%\n完全将条纹衬衫放到沙发上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767165161957": { + "instances": [ + { + "height": 0.3928888888888888, + "id": "bbox_1767165161957_1767167651404_1bjuyj6p7", + "width": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001371.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001371.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb7d31d6fea0f9967d5c68088f688f0447db047 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001371.json @@ -0,0 +1,354 @@ +{ + "task_description": "盖上保温瓶顶部的盖子：\n爪夹开始移动：10%\n爪夹靠近保温瓶顶部的盖子：50%\n爪夹抵住保温瓶顶部的盖子：80%\n爪夹盖上温瓶顶部的盖子：100", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "想爪夹方向的左方移动并下降，同时合拢爪夹，移动至保温瓶顶部后，继续下降，直至抵住保温瓶顶部的盖子，随后继续下降，使温瓶顶部的盖子盖上。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": 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0000000000000000000000000000000000000000..a1fc08aee0cab2687fdc721568c4b9b097001467 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001529.json @@ -0,0 +1,655 @@ +{ + "task_description": "将锅铲从容器中取出，然后放在桌子上；\n爪夹开始移动：0%\n爪夹靠近锅铲：20%\n爪夹抓取锅铲：40%\n爪夹抓住锅铲离开容器：60%\n爪夹将锅铲放在桌面上：80%\n爪夹松开，使锅铲落到桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动，并调整爪夹角度，到达锅铲上方后下降，抓取锅铲后竖直上升，随后向爪夹方向的右方移动，直至锅铲处于桌面上方。下降将锅铲放在桌面上，松开爪夹，使锅铲落到桌面上。", + "error_success_analysis": "", + "frame": 18, + "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为完成将锅铲从容器中取出，然后放在桌子上的任务应当：向爪夹方向的前方移动，并调整爪夹角度。", + "time": 0.6083612876875549, + "annotations": { + "point_1767604301819": { + "type": "point", + "instances": [ + { + "id": "point_1767604301819_1767604611647_kxixow25v", + "x": 0.12666661824544564, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001301.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001301.json new file mode 100644 index 0000000000000000000000000000000000000000..4dc81af18ce00e895ed0efd6c7ac03d4b648a37c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001301.json @@ -0,0 +1,317 @@ +{ + "task_description": "打开淋浴间的玻璃门:\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近淋浴间的玻璃门：50%\n爪夹抓取淋浴间的玻璃门：80%\n爪夹打开淋浴间的玻璃门：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并下降，同时调整爪夹角度至平行于桌面，向爪夹方向的右前方移动，移动至淋浴间的玻璃门把手的两侧后，合拢爪夹，夹住淋浴间的玻璃门把手后，向爪夹方向的前方移动后方移动，打开淋浴间的玻璃门。", + "error_success_analysis": "", + "frame": 0, + "progress": 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index 0000000000000000000000000000000000000000..ae818fb674f23e17e4e78b2794d64ced34900539 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001365.json @@ -0,0 +1,432 @@ +{ + "task_description": "将杯子里的东西倒入碗中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓取杯子向碗移动：60%\n爪夹开始将杯子中的物体倒入碗中：80%\n爪夹将杯子里的东西倒入碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动，到达杯子的正上方后下降，合拢爪夹抓取杯子，随后竖直上升，向爪夹方向的右方移动，移动至碗的上方后，向爪夹方向的右方移动，同时向爪夹方向的左上方抬起爪夹，将杯子里的东西倒入碗中。", + "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": "当前状态为爪夹打开，没有移动。\n为完成将杯子里的东西倒入碗中的任务应当：向爪夹方向的左前方移动，到达杯子的正上方后下降。", + "time": 0.8324164526647538, + "annotations": { + "bbox_1768189234369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189234369_1768189258980_482jho0s1", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001941.json new file mode 100644 index 0000000000000000000000000000000000000000..65781cbe4fb071ba77787b1ece1230612d62d0f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001941.json @@ -0,0 +1,628 @@ +{ + "task_description": "从沙发上抓取黑色罩子，然后把它放在椅子上：\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近黑色罩子：20%\n爪夹抓取黑色罩子：40%\n爪夹抓住黑色罩子并接近椅子：60%\n爪夹将黑色罩子移动至椅子上方：80%\n爪夹松开，使黑色罩子落到椅子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右方移动，到达黑色罩子的正上方后下降，合拢爪夹抓取黑色罩子后竖直上升，向爪夹方向的左方移动，直至黑色罩子处于椅子正上方，松开爪夹，使黑色罩子落到椅子上。", + "error_success_analysis": "", + "frame": 0, + "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_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002506.json new file mode 100644 index 0000000000000000000000000000000000000000..2c44e76c071d33251d21ed91bc0f57335174d34b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002506.json @@ -0,0 +1,636 @@ +{ + "task_description": "将瓶子移动至托盘中:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近托盘:60%\n爪夹抓住瓶子移动至托盘上方:80%\n爪夹松开，瓶子落入托盘:90%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开扶态，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶子。为完成将瓶子移动至托盘中的任务应当:爪夹向爪夹的前方移动，然后下降爪夹。", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的前方移动，然后下降爪夹，到达瓶子的正上方之后垂直下降爪夹。抓取瓶子后向爪夹的右上放移动。抵达托盘的正上方后，下降松开爪夹瓶子落入托盘中。", + 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"爪夹成功向爪夹的前方移动。", + "correction_plan": "爪夹继续向爪夹方向的前方移动，然后下降爪夹，到达瓶子的正上方之后垂直下降爪夹。抓取瓶子后向爪夹的右上放移动。抵达托盘的正上方后，下降松开爪夹瓶子落入托盘中。", + "annotations": { + "bbox_1768468159145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768468159145_1768468234153_ij7urr67m", + "x": 0.665322021484375, + "y": 0.6613734462791919, + "width": 0.03699999999999992, + "height": 0.1013348617128665 + } + ] + }, + "bbox_1768468159313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768468159313_1768468236577_rcl28uoby", + "x": 0.7223220214843751, + "y": 0.04803086222763125, + "width": 0.274, + "height": 0.6062313656857455 + } + ] + }, + "point_1768468160217": { + "type": "point", + "instances": [ + { + "id": "point_1768468160217_1768468244297_s464f7to6", + "x": 0.449322021484375, + "y": 0.8355982962416643 + } + ] + }, + "point_1768468160377": { + "type": "point", + "instances": [ + { + "id": "point_1768468160377_1768468247273_6qjikartf", + "x": 0.45532202148437506, + "y": 0.7324856299373438 + } + ] + } + 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"当前爪夹保持张开，处于记号笔上方。\n为完成抓起记号笔放入容器中的任务应当:垂直下降，靠近记号笔。\n之后爪夹合拢抓取记号笔上升，并向左上方移动，抵达容器上方后下降松开爪夹。\n然后爪夹上升后停止。", + "time": 1.68125799120087, + "annotations": { + "bbox_1768469531892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768469531892_1768529544312_srid5gkr5", + "x": 0.5883220214843751, + "y": 0.5014312824379621, + "width": 0.07799999999999993, + "height": 0.09422364334705138 + } + ] + }, + "bbox_1768469532060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768469532060_1768529547696_be4i7iuo3", + "x": 0.4693220214843751, + "y": 0.43209690337126394, + "width": 0.092, + "height": 0.14400217190775777 + } + ] + }, + "point_1768469532885": { + "type": "point", + "instances": [ + { + "id": "point_1768469532885_1768529549752_wb5cp92dl", + "x": 0.568322021484375, + "y": 0.2756500993233296 + } + ] + }, + "point_1768469533052": { + "type": "point", + "instances": [ + { + "id": "point_1768469533052_1768529552192_to2a3jij2", + "x": 0.6173220214843751, + "y": 0.3378732600242126 + 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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_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002811.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002811.json new file mode 100644 index 0000000000000000000000000000000000000000..60e23286bb4529bfc3947f6d0ccbdb989ba96f15 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002811.json @@ -0,0 +1,651 @@ +{ + "task_description": "将勺子放入盒子里:\n开始移动:0%\n爪夹调整角度:20%\n爪夹靠近勺子:30%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近盒子:60%\n爪夹将勺子移动至盒子上方:70%\n爪夹松开，勺子落入盒子:90%\n爪夹上升后停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768811040130": { + "instances": [ + { + "height": 0.1546689994564805, + "id": 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"progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将勺子放入盒子里的任务应当:爪夹向当前爪夹方向的左边移动。\n\n微微调整爪夹角度。然后下降爪夹。\n\n合拢爪夹。\n\n爪夹上升。\n\n爪夹向爪夹方向的右边移动。\n\n爪夹向右上调整角度，并且移动至盒子上方。\n\n爪夹下降。\n\n爪夹松开。\n\n爪夹上升后停止。", + "time": 0 + }, + { + "action_description": "爪夹向当前爪夹方向的左边移动。", + "annotations": { + "bbox_1768811040130": { + "instances": [ + { + "height": 0.1564468040479343, + "id": "bbox_1768811040130_1768811120034_pqvaato6x", + "width": 0.0669999999999999, + "x": 0.4743220214843751, + "y": 0.6720402738279148 + } + ], + "type": "bbox" + }, + "bbox_1768811040290": { + "instances": [ + { + "height": 0.1688914361881109, + "id": "bbox_1768811040290_1768811130018_ne4wv3390", + "width": 0.0750000000000001, + "x": 0.47232202148437497, + "y": 0.4978154238654424 + } + ], + "type": "bbox" + }, + "point_1768811041027": { + "instances": [ + { + "id": "point_1768811041027_1768811142002_vfp4e9qu1", + "x": 0.5773220214843751, + "y": 0.3680356886893151 + } + ], + "type": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002911.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002911.json new file mode 100644 index 0000000000000000000000000000000000000000..fa18d43d61ff9c1b5735523a411b10829033ef8f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002911.json @@ -0,0 +1,963 @@ +{ + "task_description": "将布料折叠在桌子上:\n开始移动:0%\n爪夹靠近布料:10%\n爪夹抓取布料:15%\n爪夹抓住布料折叠一次:25%\n爪夹再次靠近布料:30%\n爪夹再次抓取布料:45%\n爪夹抓住布料折叠二次:60%\n爪夹第三次靠近布料:80%\n爪夹第三次抓取布料:85%\n爪夹抓住布料折叠三次:95%\n爪夹完成折叠布料，上升停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768552954164": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002353.json new file mode 100644 index 0000000000000000000000000000000000000000..1b4bcca132ec1c5c583dfced036c5b669df56dfa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002353.json @@ -0,0 +1,534 @@ +{ + "task_description": "从柜子里抓起饮料放在桌子上:\n开始移动:0%\n爪夹靠近饮料:20%\n爪夹抓取饮料:40%\n爪夹抓住饮料接近桌面:60%\n爪夹松开，饮料落至桌面:80%\n爪夹上升后停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹上升，向爪夹方向的前方移动。\n\n合拢爪夹。 抓取饮料。\n\n爪夹保持合拢，稍微上升。\n\n爪夹抓取饮料向后移动并下降。\n\n抓取饮料到达桌面正上方后。\n\n爪夹保持合拢下降爪夹。\n\n抓取饮料到达桌面后，松开爪夹。\n\n垂直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触饮料。\n为完成从柜子里抓起饮料放在桌子上的任务应当:爪夹上升，向爪夹方向的前方移动。\n\n合拢爪夹。 抓取饮料。\n\n爪夹保持合拢，稍微上升。\n\n爪夹抓取饮料向后移动并下降。\n\n抓取饮料到达桌面正上方后。\n\n爪夹保持合拢下降爪夹。\n\n抓取饮料到达桌面后，松开爪夹。\n\n垂直上升。", + "time": 0, + "annotations": { + "bbox_1768617360075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360075_1768617457635_c38tf3mid", + "x": 0.4557457580566406, + "y": 0.10654774958085848, + "width": 0.03499999999999996, + "height": 0.10666827548722792 + } + ] + }, + "bbox_1768617360243": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360243_1768617471915_s04e02y9g", + "x": 0.15374575805664056, + "y": 0.5421098744870393, + "width": 0.8470000000000001, + "height": 0.41422846980873507 + } + ] + }, + "point_1768617361371": { + "type": "point", + "instances": [ + { + "id": "point_1768617361371_1768617474715_0jbcqwc04", + "x": 0.7097457580566406, + "y": 0.45144184032289547 + } + ] + }, + "point_1768617361507": { + "type": "point", + "instances": [ + { + "id": 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"相比上一进度，爪夹已略微靠近桌面。因此进度提升为55%。", + "state_description": "当前爪夹保持合拢，爪夹抓取饮料略微接近桌面。\n为完成从柜子里抓起饮料放在桌子上的任务应当:抓取饮料到达桌面正上方后。\n\n爪夹保持合拢下降爪夹。\n\n抓取饮料到达桌面后，松开爪夹。\n\n垂直上升。", + "time": 11.436878212056238, + "annotations": { + "bbox_1768617360075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360075_1768617674515_j0upfwhia", + "x": 0.6257457580566406, + "y": 0.32343990973822195, + "width": 0.04200000000000008, + "height": 0.11555729844449694 + } + ] + }, + "point_1768617361371": { + "type": "point", + "instances": [ + { + "id": "point_1768617361371_1768617677411_1go4xnu6v", + "x": 0.6367457580566407, + "y": 0.3767740474818359 + } + ] + }, + "point_1768617361507": { + "type": "point", + "instances": [ + { + "id": "point_1768617361507_1768617680707_m1gn1fuxr", + "x": 0.6687457580566407, + "y": 0.3732184382989283 + } + ] + }, + "bbox_1768617360243": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360243_1768617693523_ytbkhowyj", + "x": 0.21074575805664067, + "y": 0.5278874377554088, + "width": 0.788, + "height": 0.43378432031472686 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹。\n\n然后垂直上升。", + "error_success_analysis": "爪夹成功下降。", + "frame": 422, + "progress": 60, + "progress_explanation": "当前爪夹抓取饮料接近桌面。因此进度提升为60%。", + "state_description": "当前爪夹抓取饮料移动至桌面。\n\n为完成从柜子里抓起饮料放在桌子上的任务应当:松开爪夹。\n\n然后垂直上升。", + "time": 14.083132555355208, + "annotations": { + "point_1768617361371": { + "type": "point", + "instances": [ + { + "id": "point_1768617361371_1768617719155_xk2ngfjwv", + "x": 0.6187457580566407, + "y": 0.7412239887298647 + } + ] + }, + "point_1768617361507": { + "type": "point", + "instances": [ + { + "id": "point_1768617361507_1768617721307_ffz36k642", + "x": 0.6397457580566407, + "y": 0.7234459428153267 + } + ] + }, + "bbox_1768617360075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360075_1768617727891_tptvgod3k", + "x": 0.6067457580566407, + "y": 0.6878898509862508, + "width": 0.03125, + 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"instances": [ + { + "id": "bbox_1768617360075_1768617784571_rodfc86qs", + "x": 0.6107457580566407, + "y": 0.686112046394797, + "width": 0.03125, + "height": 0.10489047089577418 + } + ] + }, + "bbox_1768617360243": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360243_1768617787843_hfbmd1q5r", + "x": 0.2297457580566406, + "y": 0.5296652423468626, + "width": 0.768, + "height": 0.4355621249061807 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，垂直上升。", + "correction_plan": "", + "error_success_analysis": "爪夹成功上升。停止移动。", + "frame": 554, + "progress": 100, + "progress_explanation": "相比上一进度，爪夹已停止移动。因此进度提升为100%。", + "state_description": "当前爪夹保持张开，处于饮料正上方。", + "time": 18.466667, + "annotations": { + "point_1768617361371": { + "type": "point", + "instances": [ + { + "id": "point_1768617361371_1768617815435_v4qs3ln2p", + "x": 0.6407457580566407, + "y": 0.5669991387673925 + } + ] + }, + "point_1768617361507": { + "type": "point", + "instances": [ + { + "id": "point_1768617361507_1768617817643_y146nlkaz", + "x": 0.6687457580566407, + "y": 0.5581101158101235 + } + ] + }, + "bbox_1768617360075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360075_1768617821434_bmr4ehdfq", + "x": 0.6107457580566407, + "y": 0.686112046394797, + "width": 0.03199999999999994, + "height": 0.10489047089577418 + } + ] + }, + "bbox_1768617360243": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768617360243_1768617825251_n76k0jzbl", + "x": 0.2277457580566407, + "y": 0.5367764607126778, + "width": 0.772, + "height": 0.4231174927660041 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768617360075", + "name": "饮料", + "color": "#4CAF50" + }, + { + "id": "bbox_1768617360243", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768617361371", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768617361507", + "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_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002412.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002412.json new file mode 100644 index 0000000000000000000000000000000000000000..54912ddd4a8697c7d732735abed28495a50cd6d4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002412.json @@ -0,0 +1,333 @@ +{ + "task_description": "打开垃圾桶:\n开始移动:0%\n爪夹靠近垃圾桶:20%\n爪夹贴近垃圾桶:40%\n爪夹调整角度:60%\n爪夹打开垃圾桶:80%\n爪夹上升停止移动:100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开扶态，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触垃圾桶。\n为完成打开垃圾桶的任务应当:下降爪夹，靠近垃圾桶。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "error_success_analysis": "", + "correction_plan": "下降爪夹，靠近垃圾桶。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "annotations": { + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620583539_o41aazo8b", + "x": 0.6247457580566407, + "y": 0.7785578851503945, + "width": 0.26000000000000006, + "height": 0.19555850505991781 + } + ] + }, + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620600570_3n7xmjdo0", + "x": 0.5287457580566406, + "y": 0.31988430055531436 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620602778_5n1bwloir", + "x": 0.5777457580566406, + "y": 0.36610721993311307 + } + ] + } + } + }, + { + "time": 2.5935325754482306, + "frame": 78, + "progress": 5, + "action_description": "垂直下降爪夹。", + "state_description": "当前爪夹处于半空中。\n为完成打开垃圾桶的任务应当:继续下降爪夹，靠近垃圾桶。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "progress_explanation": "当前爪夹略微接近垃圾桶。因此进度提升为5%。", + "error_success_analysis": "爪夹成功下降。", + "correction_plan": "继续下降爪夹，靠近垃圾桶。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "annotations": { + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620607546_1my0t26y4", + "x": 0.6267457580566406, + "y": 0.7785578851503945, + "width": 0.25500000000000006, + "height": 0.1902250912855564 + } + ] + }, + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620609882_vrogp843x", + "x": 0.5177457580566406, + "y": 0.4816645183776101 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620612506_kki1pefbd", + "x": 0.5507457580566406, + "y": 0.5456654836699468 + } + ] + } + } + }, + { + "time": 4.808927842458539, + "frame": 144, + "progress": 20, + "action_description": "爪夹向爪夹方向的前下方移动。", + "state_description": "当前爪夹处于垃圾桶侧上方。\n为完成打开垃圾桶的任务应当:合拢爪夹，然后向爪夹的前方微微移动。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "progress_explanation": "当前爪夹靠近垃圾桶。因此进度提升为20%。", + "error_success_analysis": "爪夹成功向前下方移动。", + "correction_plan": "合拢爪夹，然后向爪夹的前方微微移动。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "annotations": { + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620629186_yfhr3w694", + "x": 0.6277457580566407, + "y": 0.7803356897418483, + "width": 0.25199999999999995, + "height": 0.1831138729197412 + } + ] + }, + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620648258_p0ho1hb6s", + "x": 0.6217457580566406, + "y": 0.7696688621931256 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620651178_utovl9bl8", + "x": 0.6487457580566407, + "y": 0.8390032412598237 + } + ] + } + } + }, + { + "time": 6.585147836272972, + "frame": 198, + "progress": 40, + "action_description": "爪夹半合拢。", + "state_description": "当前爪夹半合拢。\n为完成打开垃圾桶的任务应当:向爪夹的前方微微移动。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "progress_explanation": "相比上一进度，爪夹已贴近垃圾桶。因此进度提升为40%。", + "error_success_analysis": "爪夹成功半合拢。", + "correction_plan": "爪夹的前方微微移动。\n\n打开垃圾桶。\n\n爪夹上升。停止移动。", + "annotations": { + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620677242_5y4qupku7", + "x": 0.6287457580566407, + "y": 0.8852261606376225 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620679618_ggmtz1zn8", + "x": 0.6347457580566406, + "y": 0.9083376203265219 + } + ] + }, + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620683634_wb0wdeymy", + "x": 0.6267457580566406, + "y": 0.7803356897418483, + "width": 0.2530000000000001, + "height": 0.1884472866941026 + } + ] + } + } + }, + { + "time": 7.4439794816337965, + "frame": 223, + "progress": 60, + "action_description": "爪夹向前方微微移动", + "state_description": "当前爪夹保持合拢。", + "progress_explanation": "当前爪夹已微微调整爪夹角度。因此进度提升为60%。", + "error_success_analysis": "爪夹成功向前方微微移动。", + "correction_plan": "打开垃圾桶。\n\n爪夹上升。停止移动。", + "annotations": { + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620708082_qhc0jt0kt", + "x": 0.6467457580566406, + "y": 0.8852261606376225 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620710186_ljpj863bz", + "x": 0.6547457580566406, + "y": 0.9101154249179757 + } + ] + }, + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620713258_3vwtd0t2p", + "x": 0.6247457580566407, + "y": 0.7785578851503945, + "width": 0.2540000000000001, + "height": 0.1884472866941026 + } + ] + } + } + }, + { + "time": 8.156419369262665, + "frame": 245, + "progress": 80, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹打开垃圾桶。", + "progress_explanation": "相比上一进度，当前爪夹已打开垃圾桶。因此进度提升为80%。", + "error_success_analysis": "爪夹成功合拢。", + "correction_plan": "爪夹张开，并向上方垂直上升。", + "annotations": { + "bbox_1768620556026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620556026_1768620727746_23ju57pea", + "x": 0.6277457580566407, + "y": 0.641666931608452, + "width": 0.32199999999999995, + "height": 0.33067165401040655 + } + ] + }, + "point_1768620556834": { + "type": "point", + "instances": [ + { + "id": "point_1768620556834_1768620737378_s1ee160tq", + "x": 0.6517457580566407, + "y": 0.8834483560461687 + } + ] + }, + "point_1768620557010": { + "type": "point", + "instances": [ + { + "id": "point_1768620557010_1768620740058_ss8633v7y", + "x": 0.6647457580566407, + "y": 0.8941151835948915 + } + ] + } + } + }, + { + "time": 9.466667, + "frame": 284, + "progress": 100, + "action_description": "爪夹垂直上升。", + "state_description": "当前爪夹处于空中。", + "progress_explanation": "相比上一进度，爪夹已停止移动。", + "error_success_analysis": "爪夹成功垂直上升。", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002506.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002506.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2de2c8e0a1ef3b18c1fa36dc8ea4829b09ac1f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002506.json @@ -0,0 +1,646 @@ +{ + "task_description": "将瓶子移动到托盘里:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近托盘:60%\n爪夹抓住瓶子移动至托盘上方:80%\n爪夹松开，瓶子落入托盘:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的前方移动，然后下降爪夹。\n\n靠近瓶子后，合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶子。\n为完成将瓶子移动至托盘中的任务应当:爪夹向爪夹的前方移动，然后下降爪夹。\n\n靠近瓶子后，合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "time": 0, + "annotations": { + "bbox_1768631650088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650088_1768631670224_ft85wprcg", + "x": 0.7143220214843751, + "y": 0.6987073426997217, + "width": 0.052999999999999936, + "height": 0.05555555555555555 + } + ] + }, + "bbox_1768631650249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650249_1768631682129_88sz1zmvh", + "x": 0.7223220214843751, + "y": 0.5387049294688797, + "width": 0.18999999999999995, + "height": 0.14755778109066536 + } + ] + }, + "point_1768631650849": { + "type": "point", + "instances": [ + { + "id": "point_1768631650849_1768631686040_sk91bpcu1", + "x": 0.8213220214843749, + "y": 0.2844788728909865 + } + ] + }, + "point_1768631651024": { + "type": "point", + "instances": [ + { + "id": "point_1768631651024_1768631690248_twetnf951", + "x": 0.852322021484375, + "y": 0.23825595351318773 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹继续向爪夹的前方移动，然后下降爪夹。\n\n靠近瓶子后，合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 66, + "progress": 5, + "progress_explanation": "当前爪夹水平方向略微接近瓶子。因此进度提升为5%。", + "state_description": "当前爪夹张开垂直于桌面。\n为完成将瓶子移动到托盘里的任务应当:爪夹继续向爪夹的前方移动，然后下降爪夹。\n\n靠近瓶子后，合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "time": 2.2160894146162207, + "annotations": { + "bbox_1768631650088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650088_1768631857473_ejv28mnca", + "x": 0.7143220214843751, + "y": 0.7022629518826293, + "width": 0.05700000000000003, + "height": 0.05333413774361391 + } + ] + }, + "bbox_1768631650249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650249_1768631861248_pjtsjjrzd", + "x": 0.7283220214843751, + "y": 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"progress": 20, + "progress_explanation": "相比上一进度，当前爪夹靠近瓶子。因此进度提升为20%。", + "state_description": "当前爪夹处于瓶子正上方。\n为完成将瓶子移动到托盘里的任务应当:继续下降爪夹。\n\n靠近瓶子后，合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "time": 4.3717595177090045, + "annotations": { + "bbox_1768631650088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650088_1768632076768_8b7gumwv0", + "x": 0.6973220214843752, + "y": 0.688040515150999, + "width": 0.052999999999999936, + "height": 0.06622238310427836 + } + ] + }, + "bbox_1768631650249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650249_1768632101529_kzivorpt9", + "x": 0.728322021484375, + "y": 0.5351493202859722, + "width": 0.184, + "height": 0.15466899945648058 + } + ] + }, + "point_1768631650849": { + "type": "point", + "instances": [ + { + "id": "point_1768631650849_1768632163712_e8kxm3ix5", + "x": 0.711322021484375, + "y": 0.6844849059680913 + } + ] + }, + "point_1768631651024": { + "type": "point", + "instances": [ + { + "id": "point_1768631651024_1768632171528_7dfzextdj", + "x": 0.747322021484375, + "y": 0.6471510095475616 + } + ] + } + } + }, + { + "action_description": "下降爪夹。", + "correction_plan": "合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 155, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已贴近瓶子。因此进度提升为30%。", + "state_description": "当前爪夹贴近瓶子。\n为完成将瓶子移动到托盘里的任务应当:合拢爪夹。\n\n微微上升，然后向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "time": 5.170934775440962, + "annotations": { + "point_1768631651024": { + "type": "point", + "instances": [ + { + "id": "point_1768631651024_1768632177440_tbmk6tk1q", + "x": 0.764322021484375, + "y": 0.6951517335168141 + } + ] + }, + "point_1768631650849": { + "type": "point", + "instances": [ + { + "id": "point_1768631650849_1768632181200_55u9lk9yb", + "x": 0.731322021484375, + "y": 0.7324856299373438 + } + ] + }, + "bbox_1768631650088": { + "type": "bbox", + "instances": [ + { + "id": 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+ }, + { + "action_description": "爪夹向右边移动。", + "correction_plan": "继续向爪夹的右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "error_success_analysis": "爪夹成功向右边移动。", + "frame": 223, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取瓶子接近托盘。因此进度提升为60%。", + "state_description": "当前爪夹保持合拢，处于托盘侧上方。\n为完成将瓶子移动到托盘里的任务应当:向右方移动。\n\n到达托盘上方后，下降爪夹。\n\n张开爪夹，瓶子落入托盘中。", + "time": 7.44833465890786, + "annotations": { + "bbox_1768631650088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650088_1768632409609_0h7p3eh1s", + "x": 0.747322021484375, + "y": 0.5724832167065019, + "width": 0.05, + "height": 0.04622291937779879 + } + ] + }, + "bbox_1768631650249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768631650249_1768632413704_zsdsngwtl", + "x": 0.7303220214843751, + "y": 0.5422605386517874, + "width": 0.18600000000000003, + "height": 0.13866875813339638 + } + ] + }, + "point_1768631650849": { + "type": "point", + "instances": [ + { + "id": 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"#4CAF50" + }, + { + "id": "bbox_1768631650249", + "name": "托盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768631650849", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768631651024", + "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_0007/annotations/chunk-002/observation.images.wrist_image_left/episode_002394.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.wrist_image_left/episode_002394.json new file mode 100644 index 0000000000000000000000000000000000000000..ecf6eecc4008ff400fdd168addcd3eb0a7f3fd68 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.wrist_image_left/episode_002394.json @@ -0,0 +1,530 @@ +{ + "task_description": "将勺子移动至右边台面:\n开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近台面:60%\n爪夹抓住勺子移动至台面上方:80%\n爪夹松开，勺子落至台面:90%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开扶态，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n为完成将勺子移动至右边台面的任务应当:爪夹向爪夹方向的左边移动。\n\n合拢爪夹。\n\n爪夹上升。\n\n爪夹向爪夹的右边移动。\n\n靠近台面上方。\n\n爪夹下降。\n\n爪夹松开。勺子落下。\n\n爪夹上升。", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向的左边移动。\n\n爪夹继续向左下边移动。\n\n合拢爪夹。\n\n爪夹上升。\n\n爪夹向爪夹的右边移动。\n\n靠近台面上方。\n\n爪夹下降。\n\n爪夹松开。勺子落下。\n\n爪夹上升。", + "annotations": { + "bbox_1768638020584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768638020584_1768638046767_3tyqlj8wd", + "x": 0.369322021484375, + "y": 0.13869889639177502, + "width": 0.6300000000000001, + "height": 0.8586796176721849 + } + ] + }, + "point_1768638021151": { + "type": "point", + "instances": [ + { + "id": "point_1768638021151_1768638064815_gt8qfu767", + "x": 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"#2196F3" + }, + { + "id": "point_1768638021336", + "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_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json new file mode 100644 index 0000000000000000000000000000000000000000..37dcbe1c02b3b541360355fa6248b7eb8fb40337 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json @@ -0,0 +1,445 @@ +{ + "task_description": "将水龙头左转:\n开始移动:0%\n爪夹靠近水龙头:20%\n爪夹抓取水龙头:40%\n爪夹抓住水龙头向左转:60%\n爪夹松开:80%\n爪夹上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t", + "annotations": { + "bbox_1767678507733": { + 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"state_description": "当前爪夹张开，爪夹已经移动到水龙头上方。为完成将水龙头左转的任务应当:继续向下抓取水龙头，然后向爪夹的左边移动，直至水龙头完成左转。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 3.683868734495025 + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹抓取水龙头。", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.22578118311463247, + "id": "bbox_1767678507733_1767678656109_wxc4fb3ow", + "width": 0.07599999999999998, + "x": 0.6647457580566407, + "y": 0.35016724156321366 + } + ], + "type": "bbox" + }, + "point_1767678509853": { + "instances": [ + { + "id": "point_1767678509853_1767678652237_wzb3kmzaa", + "x": 0.7257457580566407, + "y": 0.42127942522136563 + } + ], + "type": "point" + }, + "point_1767678510261": { + "instances": [ + { + "id": "point_1767678510261_1767678649597_x7v3nma47", + "x": 0.7427457580566406, + "y": 0.43016844817863464 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左边转动，直至水龙头转向爪夹方向的左边，松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到水龙头。", + "frame": 129, + "progress": 40, + "progress_explanation": "当前爪夹已抓取水龙头，因此进度提升为40%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，爪夹已经抓取到水龙头。为完成将水龙头左转的任务应当:向爪夹的左边转动，直至水龙头完成左转。", + "time": 4.298164295319768 + }, + { + "action_description": "抓住水龙头向爪夹方向的左侧转动。", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.23644801066335527, + "id": "bbox_1767678507733_1767678670661_65ee25q61", + "width": 0.07699999999999996, + "x": 0.6657457580566406, + "y": 0.3430560231973985 + } + ], + "type": "bbox" + }, + "point_1767678509853": { + "instances": [ + { + "id": "point_1767678509853_1767678690325_bed25gtxw", + "x": 0.7157457580566406, + "y": 0.42305722981281946 + } + ], + "type": "point" + }, + "point_1767678510261": { + "instances": [ + { + "id": "point_1767678510261_1767678692965_726elg2wr", + "x": 0.7367457580566407, + "y": 0.43372405736154224 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的左边转动，直至水龙头转向爪夹方向的左边，松开爪夹。", + "error_success_analysis": "爪夹已经抓取到水龙头，并且在向着爪夹方方向的左边转动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 145, + "progress": 50, + "progress_explanation": "当前爪夹已抓住水龙头，与上一进度相比，水龙头逐渐转向左边，因此进度提升为50%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，抓住水龙头，为完成将水龙头左转的任务应当:爪夹继续合拢，抓取水龙头向爪夹方向的左侧转动，直至水龙头转向爪夹方向的左边。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 4.830054354082654 + }, + { + "action_description": "爪夹保持合拢，抓紧水龙头继续向爪夹方向的左侧转动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.21155874638300207, + "id": "bbox_1767678507733_1767678702509_srq6w0x31", + "width": 0.05900000000000007, + "x": 0.6687457580566407, + "y": 0.3643896782948441 + } + ], + "type": "bbox" + }, + "point_1767678509853": { + "instances": [ + { + "id": "point_1767678509853_1767678713165_rnc3ctr0a", + "x": 0.6947457580566406, + "y": 0.42127942522136563 + } + ], + "type": "point" + }, + "point_1767678510261": { + "instances": [ + { + "id": "point_1767678510261_1767678715301_h6x9sdrhn", + "x": 0.7177457580566406, + "y": 0.43194625277008847 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹保持合拢，向左边转动，并且正确转动了水龙头。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 153, + "progress": 60, + "progress_explanation": "当前爪夹已抓住水龙头，并切转动了，因此进度提升为60%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前合拢爪夹，抓到水龙头，为完成将水龙头左转的任务应当:爪夹继续合拢，抓取水龙头向爪夹方向的左边转动，直至水龙头转向爪夹方向的左边。", + "time": 5.114727906659974 + }, + { + "action_description": "爪夹打开。", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.20978094179154827, + "id": "bbox_1767678507733_1767678727285_ywgg5bjk0", + "width": 0.05, + "x": 0.6707457580566406, + "y": 0.35905626452048267 + } + ], + "type": "bbox" + }, + "point_1767678509853": { + "instances": [ + { + "id": "point_1767678509853_1767678721613_nffwbvote", + "x": 0.6407457580566407, + "y": 0.41950162062991186 + } + ], + "type": "point" + }, + "point_1767678510261": { + "instances": [ + { + "id": "point_1767678510261_1767678719117_vk1xh4nzj", + "x": 0.6657457580566406, + "y": 0.43550186195299606 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹上升。", + "error_success_analysis": "抓夹松开成功。", + "frame": 185, + "progress": 80, + "progress_explanation": "当前爪夹松开水龙头，因此进度提升为80%", + "state_description": "爪夹松开，水龙头完成向左转动。为完成将水龙头左转的任务应当:上升爪夹。", + "time": 6.178508024185747 + }, + { + "action_description": "爪夹向后上方升起。", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.20622533260864068, + "id": "bbox_1767678507733_1767678743237_xrxtp2f7h", + "width": 0.05700000000000012, + "x": 0.6667457580566406, + "y": 0.3643896782948441 + } + ], + "type": "bbox" + }, + "point_1767678509853": { + "instances": [ + { + "id": "point_1767678509853_1767678739053_5t2kx7sws", + "x": 0.7097457580566406, + "y": 0.3519450461546675 + } + ], + "type": "point" + }, + "point_1767678510261": { + "instances": [ + { + "id": "point_1767678510261_1767678736813_9l9mwp7nh", + "x": 0.7727457580566407, + "y": 0.3928345517581049 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，并且爪夹成功向后上方上升。", + "frame": 218, + "progress": 0, + "progress_explanation": "当前爪夹松开，完成水龙头左转。因此进度提升为100%\n", + "state_description": "当前爪夹升起。", + "time": 7.266667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678507733", + "name": "水龙头" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767678509853", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767678510261", + "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_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json new file mode 100644 index 0000000000000000000000000000000000000000..94518f8b2ee33667b612120377f995fd7c900b10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json @@ -0,0 +1,163 @@ +{ + "task_description": "关闭左侧底部抽屉:\n开始移动:0%\n机械臂靠近抽屉:20%\n机械臂推动抽屉:40%\n抽屉关闭:100%", + "progress_points": [ + { + "action_description": "机械臂准备移动。", + "annotations": { + "bbox_1768271087914": { + "instances": [ + { + "height": 0.08533462038978239, + "id": "bbox_1768271087914_1768271128538_3t8d4qhd6", + "width": 0.15900000000000003, + "x": 0.388322021484375, + "y": 0.899599261534001 + } + ], + "type": "bbox" + }, + "bbox_1768271088058": { + "instances": [ + { + "height": 0.6293428253746449, + "id": "bbox_1768271088058_1768271132834_bfyxn6ov9", + "width": 0.466, + "x": 0.5323220214843751, + "y": 0.33781301063460045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂向右前方移动，并且调整机械臂。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态看不到爪夹，机械臂没有移动，没有接触抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂向右前方移动，并且调整机械臂。", + "time": 0.009575346327319588 + }, + { + "action_description": "当前爪夹向右前方移动，并且调整机械臂。", + "annotations": { + "bbox_1768271087914": { + "instances": [ + { + "height": 0.08889022957268998, + "id": "bbox_1768271087914_1768271182826_zq5rj0pal", + "width": 0.11399999999999996, + "x": 0.436322021484375, + "y": 0.8960436523510934 + } + ], + "type": "bbox" + }, + "bbox_1768271088058": { + "instances": [ + { + "height": 0.6168981932344683, + "id": "bbox_1768271088058_1768271167058_4qfrtgrfk", + "width": 0.46699999999999997, + "x": 0.5303220214843751, + "y": 0.3449242290004157 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂继续调整角度，并向右前方移动。", + "error_success_analysis": "爪夹成功调整机械臂，并向右前移动。", + "frame": 42, + "progress": 10, + "progress_explanation": "当前机械臂向右前方移动并调整。因此进度提升为10%。", + "state_description": "当前状态还是看不到爪夹，机械臂调整。为完成关闭左侧底部抽屉的任务应当:机械臂继续调整角度，并向右前方移动。", + "time": 1.384 + }, + { + "action_description": "机械臂继续向右前方移动，并且继续调整机械臂。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.567119664673762, + "id": "bbox_1768271088058_1768271208386_kavi0yh5q", + "width": 0.499, + "x": 0.498322021484375, + "y": 0.39114714837821446 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂向前方推动抽屉。", + "error_success_analysis": "机械臂成功向右前方移动。", + "frame": 62, + "progress": 20, + "progress_explanation": "当前机械臂贴近抽屉。因此进度提升为20%。", + "state_description": "当前机械臂靠近抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂向前方推动抽屉。", + "time": 2.068 + }, + { + "action_description": "机械臂向前方移动。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.567119664673762, + "id": "bbox_1768271088058_1768271234883_lcc83unkr", + "width": 0.5049999999999999, + "x": 0.494322021484375, + "y": 0.39825836674402965 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂继续向前方推动抽屉。", + "error_success_analysis": "机械臂成功向前方推动抽屉。", + "frame": 80, + "progress": 40, + "progress_explanation": "相比上一进度，机械臂向前方推动抽屉，因此进度提升为40%。", + "state_description": "当前机械臂向前方推动抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂继续向前方推动抽屉。", + "time": 2.656998026739691 + }, + { + "action_description": "当前机械臂再次向前方移动。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.49422967642415616, + "id": "bbox_1768271088058_1768271261922_rdu3s1doi", + "width": 0.5670000000000001, + "x": 0.43032202148437493, + "y": 0.465814941219274 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "机械臂成功推动抽屉关闭。", + "frame": 120, + "progress": 100, + "progress_explanation": "当前抽屉关闭。因此进度提升为100%。", + "state_description": "当前机械臂继续向前方推动。", + "time": 4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768271087914", + "name": "抽屉" + }, + { + "color": "#FF9800", + "id": "bbox_1768271088058", + "name": "机械臂" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5b4f2fb46ba4812c71936addc902b64b3ac96c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json @@ -0,0 +1,738 @@ +{ + "task_description": "抓取木勺将其放入勺架中:\n开始移动:0%\n爪夹靠近木勺:20%\n爪夹抓取木勺:40%\n爪夹抓住木勺接近勺架:60%\n爪夹将木勺放入勺架:80%\n爪夹松开，木勺落入勺架:90%\n爪夹向后方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.1528911948650267, + "id": "bbox_1768276638482_1768276664674_0043s9099", + "width": 0.11000000000000006, + "x": 0.504322021484375, + "y": 0.6489288141390154 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.33422726319331425, + "id": "bbox_1768276638674_1768276667194_4z7ljtpno", + "width": 0.137, + "x": 0.409322021484375, + "y": 0.5298159065116107 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276670266_y1bngccvn", + "x": 0.564322021484375, + "y": 0.4942598146825348 + } + ], + "type": "point" + }, + "point_1768276639874": { + "instances": [ + { + "id": "point_1768276639874_1768276673675_bucbp8e55", + "x": 0.608322021484375, + "y": 0.46403713662782026 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下方移动。并调整角度。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触木勺。为完成抓取木勺将其放入勺架中的任务应当:爪夹向下方移动。并调整角度。", + "time": 0 + }, + { + "action_description": "当前爪夹向下方移动，并且调整角度。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.1528911948650267, + "id": "bbox_1768276638482_1768276708579_uc4zwd3uw", + "width": 0.11199999999999992, + "x": 0.5043220214843751, + "y": 0.6489288141390154 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.3324494586018604, + "id": "bbox_1768276638674_1768276711458_5q6xbx0be", + "width": 0.13999999999999999, + "x": 0.40632202148437513, + "y": 0.5333715156945183 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276713706_e2eec91ae", + "x": 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"state_description": "当前爪夹停于杯子侧上方。", + "time": 15.4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768286187313", + "name": "马克笔" + }, + { + "color": "#FF9800", + "id": "bbox_1768286187489", + "name": "杯子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768286188178", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768286188370", + "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_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json new file mode 100644 index 0000000000000000000000000000000000000000..54752a3cf6424a81cfd3ef299551c5f9d0854037 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json @@ -0,0 +1,398 @@ +{ + "task_description": "按下烤面包机的开关:\n开始移动:0%\n爪夹接近烤面包机:20%\n爪夹移动至开关上方:40%\n爪夹按下开关:60%\n爪夹上升离开开关:80%\n爪夹上升停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.44445114786344975, + "id": "bbox_1768289675848_1768289732519_givu2dg47", + "width": 0.22999999999999998, + "x": 0.175322021484375, + "y": 0.5102600560056191 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.05155633315216019, + "id": "bbox_1768289791487_1768289813495_mbuq54nrs", + "width": 0.03500000000000001, + "x": 0.319322021484375, + "y": 0.6382619865902925 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768289760887_ej5n81ick", + "x": 0.445322021484375, + "y": 0.6400397911817464 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768289763407_35wvba2fl", + "x": 0.771322021484375, + "y": 0.6524844233219229 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左下方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触烤面包机。为完成按下烤面包机的开关的任务应当:爪夹向左下方移动。", + "time": 0 + }, + { + "action_description": "爪夹向左下方移动。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.5315635728446859, + "id": "bbox_1768289675848_1768289776336_lqseepiey", + "width": 0.23599999999999993, + "x": 0.330322021484375, + "y": 0.23470034433028014 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.05866755151797535, + "id": "bbox_1768289791487_1768289827175_as2w8tozp", + "width": 0.041000000000000016, + "x": 0.47132202148437496, + "y": 0.32359057390297014 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768289783631_wx5zo5qu2", + "x": 0.473322021484375, + "y": 0.6329285728159312 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768289785783_1qi0203rv", + "x": 0.7423220214843751, + "y": 0.6400397911817464 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢并向下方移动。", + "error_success_analysis": "抓夹成功向左下方移动。", + "frame": 56, + "progress": 5, + "progress_explanation": "当前爪夹，略微接近烤面包机。因此进度提升为5%。", + "state_description": "当前爪夹垂直于桌面。为完成按下烤面包机的开关的任务应当:爪夹合拢并向下方移动。", + "time": 1.8760137245200244 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.6666767217951747, + "id": "bbox_1768289675848_1768289859143_zdl3o43v9", + "width": 0.286, + "x": 0.346322021484375, + "y": 0.20625547086701937 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.06222316070088295, + "id": "bbox_1768289791487_1768289861727_pl9685hyf", + "width": 0.05500000000000007, + "x": 0.510322021484375, + "y": 0.2862566774824403 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768289864191_4dpc6m31a", + "x": 0.595322021484375, + "y": 0.5707054121150481 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768289866399_9oo4ui74c", + "x": 0.630322021484375, + "y": 0.5689276075235944 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 82, + "progress": 20, + "progress_explanation": "当前爪夹更加接近烤面包机。因此进度提升为20%。", + "state_description": "当前爪夹合拢，处于烤面包机侧上方。为完成按下烤面包机的开关的任务应当:爪夹下降。", + "time": 2.719450186375695 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.5564528371250391, + "id": "bbox_1768289675848_1768289904567_y6omuw4sy", + "width": 0.3629999999999999, + "x": 0.376322021484375, + "y": 0.38581373460385304 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.12800193058467357, + "id": "bbox_1768289791487_1768289908319_b8njhkgi3", + "width": 0.088, + "x": 0.618322021484375, + "y": 0.5298159065116108 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768289910631_nvps360ss", + "x": 0.595322021484375, + "y": 0.5724832167065019 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768289912399_vcqrylqyy", + "x": 0.629322021484375, + "y": 0.5689276075235944 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下调整并下降，按下开关后上升。", + "error_success_analysis": "爪夹成功下降。", + "frame": 117, + "progress": 40, + "progress_explanation": "相比上一进度，爪夹靠近开关。因此进度提升为40%。", + "state_description": "当前抓夹下降到达面包机开关的上方。为完成按下烤面包机的开关的任务应当:爪夹向右下调整并下降，按下开关后上升。", + "time": 3.886133 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.5351191820275936, + "id": "bbox_1768289675848_1768289965007_8kunpqt1w", + "width": 0.45999999999999996, + "x": 0.282322021484375, + "y": 0.40536958510984483 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.07644559743251331, + "id": "bbox_1768289791487_1768289977327_2dw85897a", + "width": 0.09399999999999994, + "x": 0.573322021484375, + "y": 0.5138156651885266 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768289980103_2onnj9zci", + "x": 0.5973220214843751, + "y": 0.5813722396637709 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768289982263_paynimllh", + "x": 0.634322021484375, + "y": 0.5760388258894096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前上方移动。", + "error_success_analysis": "爪夹成功向右下方移动。", + "frame": 164, + "progress": 60, + "progress_explanation": "相比上一进度，爪夹已按下开关。因此进度提升为80%。", + "state_description": "当前爪夹按下开关。为完成按下烤面包机的开关的任务应当:爪夹向前上方移动。", + "time": 5.476838619365385 + }, + { + "action_description": "爪夹向上方移动。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.39467261930274344, + "id": "bbox_1768289675848_1768290013079_vlp8f8o7o", + "width": 0.24400000000000013, + "x": 0.24532202148437499, + "y": 0.5564829753834177 + } + ], + "type": "bbox" + }, + "bbox_1768289791487": { + "instances": [ + { + "height": 0.05511194233506779, + "id": "bbox_1768289791487_1768290009535_9axuyw8xt", + "width": 0.053000000000000026, + "x": 0.378322021484375, + "y": 0.6062615039441241 + } + ], + "type": "bbox" + }, + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768290015415_8z7oru82r", + "x": 0.5963220214843751, + "y": 0.5653719983406867 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768290017143_3cw9o9v74", + "x": 0.627322021484375, + "y": 0.5582607799748716 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开继续上升。", + "error_success_analysis": "爪夹成功向上方移动。", + "frame": 196, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已上升。因此进度提升为80%。", + "state_description": "当前爪夹保持合拢。为完成按下烤面包机的开关的任务应当:爪夹张开继续上升。", + "time": 6.539244162664353 + }, + { + "action_description": "爪夹张开，向升起。", + "annotations": { + "point_1768289679471": { + "instances": [ + { + "id": "point_1768289679471_1768290041407_zp41nhgbq", + "x": 0.44332202148437505, + "y": 0.6631512508706457 + } + ], + "type": "point" + }, + "point_1768289679983": { + "instances": [ + { + "id": "point_1768289679983_1768290043327_qbxl30l9k", + "x": 0.770322021484375, + "y": 0.6524844233219229 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开，并升起。", + "frame": 235, + "progress": 100, + "progress_explanation": "相比于上一进度，爪夹已停于桌面上空。因此进度提升为100%。", + "state_description": "当前爪夹张开，垂直于桌面上空。", + "time": 7.844948685344766 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768289675848", + "name": "烤面包机" + }, + { + "color": "#FF9800", + "id": "bbox_1768289791487", + "name": "开关" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768289679471", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768289679983", + "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_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff9c9afab377e61e160c5db929b3edca5f58eb6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json @@ -0,0 +1,453 @@ +{ + "task_description": "打开烤箱门:\n开始移动:0%\n爪夹接近烤箱门:20%\n爪夹下压烤箱门:40%\n爪夹更加下压烤箱门:60%\n爪夹上升离开烤箱门:80%\n爪夹上升停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "point_1768294111774": { + "instances": [ + { + "id": "point_1768294111774_1768294136606_1t0hw22e8", + "x": 0.45032202148437495, + "y": 0.6453732049561077 + } + ], + "type": "point" + }, + "point_1768294113014": { + "instances": [ + { + "id": "point_1768294113014_1768294138614_a31gcg1cp", + "x": 0.769322021484375, + "y": 0.6329285728159312 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触烤箱门。为完成打开烤箱门的任务应当:爪夹向左前方移动。", + "time": 0 + }, + { + "action_description": "爪夹向左前方移动。", + "annotations": { + "bbox_1768294110254": { + "instances": [ + { + "height": 0.42311749276600424, + "id": "bbox_1768294110254_1768294268902_v034upksx", + "width": 0.777, + "x": 0.15432202148437502, + "y": 0.5244824927372493 + } + ], + "type": "bbox" + }, + "point_1768294111774": { + "instances": [ + { + "id": "point_1768294111774_1768294149222_m0jz9r4wn", + "x": 0.449322021484375, + "y": 0.6489288141390154 + } + ], + "type": "point" + }, + "point_1768294113014": { + "instances": [ + { + "id": "point_1768294113014_1768294146678_08b4hg2pj", + "x": 0.765322021484375, + "y": 0.6240395498586622 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前上方调整角度，然后向前方移动。", + "error_success_analysis": "爪夹成功向左前方移动。", + "frame": 109, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹略微靠近烤箱。因此进度提升为10%。", + "state_description": "当前爪夹保持张开，垂直于桌面。为完成打开烤箱门的任务应当:爪夹向前上方调整角度，然后向前方移动。", + "time": 3.617887675657166 + }, + { + "action_description": "爪夹调整角度，向前方移动，并且合拢爪夹。", + "annotations": { + "bbox_1768294110254": { + "instances": [ + { + "height": 0.5991201473199302, + "id": "bbox_1768294110254_1768294170030_m484v6xgg", + "width": 0.78, + "x": 0.21732202148437502, + "y": 3.013825837867332e-05 + } + ], + "type": "bbox" + }, + "point_1768294111774": { + "instances": [ + { + "id": "point_1768294111774_1768294176918_dbxyf5gnu", + "x": 0.5873220214843751, + "y": 0.5440383432432412 + } + ], + "type": "point" + }, + "point_1768294113014": { + "instances": [ + { + "id": "point_1768294113014_1768294180022_of7kni1ux", + "x": 0.616322021484375, + "y": 0.5422605386517874 + } + ], + "type": "point" + } + }, + "correction_plan": "下降下压烤箱门。", + "error_success_analysis": "爪夹成功调整角度，并且合拢爪夹。", + "frame": 190, + "progress": 20, + "progress_explanation": "相比与上一进度，爪夹已接近烤箱。因此进度提升为20%", + "state_description": "当前爪夹合拢，爪夹角度平行于烤箱。为完成打开烤箱门的任务应当:下降下压烤箱门。", + "time": 6.31816255503861 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768294110254": { + "instances": [ + { + "height": 0.6666767217951747, + "id": "bbox_1768294110254_1768294214206_cq6u2y4t0", + "width": 0.8400000000000001, + "x": 0.157322021484375, + "y": 0.24892278106191054 + } + ], + "type": "bbox" + }, + "point_1768294111774": { + "instances": [ + { + "id": "point_1768294111774_1768294217286_ssziu8g8u", + "x": 0.586322021484375, + "y": 0.5635941937492329 + } + ], + "type": "point" + }, + "point_1768294113014": { + "instances": [ + { + "id": "point_1768294113014_1768294219294_lpzlnxq1y", + "x": 0.624322021484375, + "y": 0.5582607799748716 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度，继续下将爪夹。", + "error_success_analysis": "爪夹成功下降。", + "frame": 257, + "progress": 40, + "progress_explanation": "相比上一进度，爪夹已下降打开烤箱门。因此进度提升为40%。", + "state_description": "当前爪夹合拢，下压烤箱门。为完成打开烤箱门的任务应当:爪夹调整角度，继续下将爪夹。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5fd167dce4993a4d03ca65a11c048f5f19df92 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json @@ -0,0 +1,546 @@ +{ + "task_description": "\n抓起罐子使其放在桌子上:\n开始移动:0%\n爪夹靠近罐子:20%\n爪夹抓取罐子:40%\n爪夹抓住罐子接近桌子:60%\n爪夹抓住罐子在桌子的正上方:80%\n爪夹松开，罐子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，到达罐子正上方后下降，抓取罐子后竖直上升，向爪夹方向的左前方移动，直至处于桌子的正上方。下降将罐子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + 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"爪夹向爪夹方向的右前方移动，直至罐子的正上方，后下降，抓取罐子后竖直上升，向爪夹方向的左前方移动，直至处于桌子的正上方。下降将罐子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近罐子。", + "frame": 48, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近罐子，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近罐子。\n为完成抓起罐子使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至罐子的正上方。", + "time": 1.6144143783783782, + "annotations": { + "point_1768270666659": { + "type": "point", + "instances": [ + { + "id": "point_1768270666659_1768274971705_a2febvl8h", + "x": 0.5135, + "y": 0.176 + } + ] + }, + "bbox_1768270656507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656507_1768274977409_qhm5o2dba", + "x": 0.4885, + "y": 0.30044444444444446, + "width": 0.03600000000000003, + "height": 0.1315555555555556 + } + ] + }, + "bbox_1768270656835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656835_1768274990522_37var6c84", + "x": 0.013500000000000002, + "y": 0.21866666666666668, + "width": 0.7849999999999999, + "height": 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100644 index 0000000000000000000000000000000000000000..e509704bfa67d6d3560c8b41f144b79eb32e3a12 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007591.json @@ -0,0 +1,323 @@ +{ + "task_description": "\n按下电线插板的开关:\n开始移动:0%\n爪夹合拢:20%\n爪夹靠近电线插板的开关:40%\n爪夹接触电线插板的开关:60%\n爪夹按下电线插板的开关:80%\n爪夹张开，离开电线插板的开关:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹合拢，向爪夹方向的前方移动，直至电线插板的开关的正上方，后竖直下降，按下电线插板的开关，后爪夹张开，离开电线插板的开关。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰电线插板的开关。\n为完成按下电线插板的开关的任务应当:爪夹合拢，向爪夹方向的前方移动，准备按下电线插板的开关。", + "time": 2.1715628672150413, + "annotations": { + "point_1768289388117": { + "type": "point", + "instances": [ + { + "id": "point_1768289388117_1768291007551_2nygec7w7", + "x": 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"point_1768289388117_1768291025399_qvaf1p8va", + "x": 0.4869466515323496, + "y": 0.10694917391852693 + } + ] + }, + "point_1768289388445": { + "type": "point", + "instances": [ + { + "id": "point_1768289388445_1768291029192_58fqumov9", + "x": 0.49602724177071505, + "y": 0.1271282633371169 + } + ] + }, + "bbox_1768289385701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768289385701_1768291135688_vxfr9dfxe", + "x": 0.3064699205448354, + "y": 0.1412536259301299, + "width": 0.018161180476730987, + "height": 0.04237608777903896 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹方向的前方移动并下降。", + "correction_plan": "爪夹保持合拢向爪夹方向的前方移动，直至电线插板的开关的正上方，后竖直下降，按下电线插板的开关，后爪夹张开，离开电线插板的开关。", + "error_success_analysis": "爪夹保持合拢向爪夹方向的前方移动，在水平方向上接近电线插板的开关。", + "frame": 182, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上接近电线插板的开关，因此进度提升为30%。", + "state_description": "当前状态为爪夹合拢，爪夹在水平方向上接近电线插板的开关。\n为完成按下电线插板的开关的任务应当:爪夹保持合拢向爪夹方向的前方移动，直至电线插板的开关的正上方。", + "time": 6.059694477085782, + "annotations": { + "point_1768289388117": { + "type": "point", + "instances": [ + { + "id": "point_1768289388117_1768291141560_y9lzn91fk", + "x": 0.42565266742338254, + "y": 0.1412536259301299 + } + ] + }, + "point_1768289388445": { + "type": "point", + "instances": [ + { + "id": "point_1768289388445_1768291145375_itnknwntz", + "x": 0.4301929625425653, + "y": 0.1533610795812839 + } + ] + }, + "bbox_1768289385701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768289385701_1768291150040_b1dxwz7bl", + "x": 0.30987514188422244, + "y": 0.14327153487198888, + "width": 0.017026106696935318, + "height": 0.04842981460461596 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹方向的前方移动并下降。", + "correction_plan": "爪夹保持合拢竖直下降，按下电线插板的开关。后爪夹张开，离开电线插板的开关。", + "error_success_analysis": "爪夹向爪夹方向的前方移动至电线插板的开关正上方。", + "frame": 223, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于电线插板的开关的正上方，已接近电线插板的开关，因此进度提升为20%。", + "state_description": "当前状态为爪夹合拢，爪夹处于电线插板的开关的正上方。\n为完成按下电线插板的开关的任务应当:爪夹保持合拢竖直下降，按下电线插板的开关。", + "time": 7.424676850763809, + "annotations": { + "bbox_1768289385701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768289385701_1768291154408_qe8mvopqa", + "x": 0.3076049943246311, + "y": 0.1452894438138479, + "width": 0.017026106696935273, + "height": 0.04035817883717997 + } + ] + }, + "point_1768289388117": { + "type": "point", + "instances": [ + { + "id": "point_1768289388117_1768291159000_s9g7a7dol", + "x": 0.3416572077185017, + "y": 0.1412536259301299 + } + ] + }, + "point_1768289388445": { + "type": "point", + "instances": [ + { + "id": "point_1768289388445_1768291162136_av8xjosln", + "x": 0.3416572077185017, + "y": 0.15537898852314289 + } + ] + } + } + }, + { + "action_description": "爪夹下降，接触电线插板的开关。", + "correction_plan": "抓夹按下电线插板的开关。后爪夹张开，离开电线插板的开关。", + "error_success_analysis": "爪夹下降，接触电线插板的开关。", + "frame": 304, + "progress": 60, + "progress_explanation": "当前爪夹接触电线插板的开关，因此进度提升为60%。", + 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"爪夹合拢，爪夹已经按下电线插板的开关，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹已经按下电线插板的开关。\n为完成按下电线插板的开关的任务应当:爪夹抬升并张开，离开电线插板的开关。", + "time": 15.717978848413631, + "annotations": { + "bbox_1768289385701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768289385701_1768291192280_513hci5hy", + "x": 0.3064699205448354, + "y": 0.15941480640686087, + "width": 0.018161180476730987, + "height": 0.038340269895321 + } + ] + }, + "point_1768289388445": { + "type": "point", + "instances": [ + { + "id": "point_1768289388445_1768291195504_c0d82lk2s", + "x": 0.3155505107832009, + "y": 0.1816118047673099 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并张开，离开电线插板的开关。", + "correction_plan": "", + "error_success_analysis": "爪夹抬升并张开，离开电线插板的开关。", + "frame": 508, + "progress": 100, + "progress_explanation": "当前爪夹抬升并张开，离开电线插板的开关，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，爪夹已经离开电线插板的开关。\n已完成按下电线插板的开关的任务。", + "time": 16.93819036427732, + "annotations": { + "point_1768289388445": { + "type": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0388066f725fe33499af5b20287563af0ba2ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json @@ -0,0 +1,524 @@ +{ + "task_description": "\n抓起炉灶右侧锅上的玻璃锅盖使其放在桌子上:\n开始移动:0%\n爪夹靠近炉灶右侧锅上的玻璃锅盖:20%\n爪夹抓取炉灶右侧锅上的玻璃锅盖:40%\n爪夹抓住炉灶右侧锅上的玻璃锅盖接近桌子:60%\n爪夹抓住炉灶右侧锅上的玻璃锅盖在桌子的正上方:80%\n爪夹松开，炉灶右侧锅上的玻璃锅盖放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的前方移动，到达炉灶右侧锅上的玻璃锅盖正上方后下降，抓取炉灶右侧锅上的玻璃锅盖后竖直上升，向爪夹方向的左后方移动，直至处于桌子正上方。下降将炉灶右侧锅上的玻璃锅盖放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰炉灶右侧锅上的玻璃锅盖。\n为完成抓起炉灶右侧锅上的玻璃锅盖使其放在桌子上的任务应当:爪夹向爪夹方向的前方移动，准备抓取炉灶右侧锅上的玻璃锅盖。", + "time": 0.44120643243243246, + "annotations": { + "bbox_1768292097545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097545_1768294276108_c7p4fcuk7", + "x": 0.6014999999999999, + "y": 0.7822222222222223, + "width": 0.19400000000000003, + "height": 0.18133333333333326 + } + ] + }, + "bbox_1768292097769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097769_1768294354181_zudkxmh5w", + "x": 0.2915, + "y": 0.6933333333333334, + "width": 0.623, + "height": 0.304 + } + ] + } + } + }, + { + "time": 1.3837838108108107, + "frame": 42, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近炉灶右侧锅上的玻璃锅盖。\n为完成抓起炉灶右侧锅上的玻璃锅盖使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至炉灶右侧锅上的玻璃锅盖的正上方。", + "progress_explanation": "当前爪夹在水平方向上接近炉灶右侧锅上的玻璃锅盖，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上成功接近炉灶右侧锅上的玻璃锅盖。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至炉灶右侧锅上的玻璃锅盖的正上方，后下降，抓取炉灶右侧锅上的玻璃锅盖后竖直上升，向爪夹方向的左后方移动，直至处于桌子正上方。下降将炉灶右侧锅上的玻璃锅盖放在桌子上，爪夹张开。", + "annotations": { + "point_1768292115305": { + "type": "point", + "instances": [ + { + "id": "point_1768292115305_1768294257876_fo6renjjv", + "x": 0.6395000000000001, + "y": 0.7217777777777779 + } + ] + }, + "bbox_1768292097545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097545_1768294286804_9o6y27pn6", + "x": 0.6065, + "y": 0.784, + "width": 0.19899999999999993, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1768292097769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097769_1768294375940_s0knfxhik", + "x": 0.29449999999999993, + "y": 0.7146666666666666, + "width": 0.619, + "height": 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"bbox_1768292097769_1768294564564_kzmlu4b3s", + "x": 0.2915, + "y": 0.7288888888888888, + "width": 0.619, + "height": 0.26666666666666683 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768292097545", + "name": "炉灶右侧锅上的玻璃锅盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1768292097769", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768292115081", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768292115305", + "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_0007/annotations/chunk-007/observation.images.wrist_image_left/episode_007180.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.wrist_image_left/episode_007180.json new file mode 100644 index 0000000000000000000000000000000000000000..f5b645d069e5cf176e15ad0fbe681f57caac7b22 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.wrist_image_left/episode_007180.json @@ -0,0 +1,553 @@ +{ + "task_description": "爪夹关闭烤箱门:\n开始移动:0%\n爪夹靠近烤箱门:20%\n爪夹抓取烤箱门:40%\n爪夹推动烤箱门接近烤箱:60%\n爪夹推动箱门即将关闭烤箱 :80%\n烤箱门完全关闭 :100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹下降，调整爪夹角度平行于桌面。然后向爪夹方向的右侧移动至烤箱门的正上方，后下降，爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹下降，向爪夹方向的右侧移动并调整，准备抓取烤箱门。", + "time": 0.6666666666666666, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357369564_lk6puhgwb", + "x": 0.4535, + "y": 0.5884444444444444 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357372220_a8n0kfipb", + "x": 0.7795, + "y": 0.5884444444444444 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357379844_a9qiz2d5q", + "x": 0.6144999999999998, + "y": 0.40177777777777784, + "width": 0.29300000000000026, + "height": 0.2826666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹先向爪夹方向的右前方移动，后向爪夹方向的右后方移动，并下降。", + "correction_plan": "爪夹继续下降，调整爪夹角度平行于桌面。然后向爪夹方向的右侧移动至烤箱门的正上方，后下降，爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹下降，在垂直方向上接近烤箱门。", + "frame": 83, + "progress": 5, + "progress_explanation": "当前爪夹在垂直方向上接近烤箱门，因此进度提升至5%。", + "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，爪夹在垂直方向上接近烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续下降，调整爪夹角度平行于桌面。", + "time": 2.7623711340206185, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357400405_1gimrwyjw", + "x": 0.4545, + "y": 0.5866666666666667 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357402405_vjlsh25f6", + "x": 0.7765000000000001, + "y": 0.5884444444444444 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357410524_cfp2cl7a7", + "x": 0.7535000000000001, + "y": 0.45511111111111113, + "width": 0.24399999999999994, + "height": 0.4177777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹下降，并开始调整爪夹角度使其平行于桌面。", + "correction_plan": "爪夹继续下降，调整爪夹角度平行于桌面。然后向爪夹方向的右侧移动至烤箱门的正上方，后下降，爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹继续下降，并开始调整爪夹角度使其平行于桌面。", + "frame": 145, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上更接近烤箱门，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上更接近烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续下降，调整爪夹角度平行于桌面。", + "time": 4.825257731958763, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357428084_a0nz70que", + "x": 0.45949999999999996, + "y": 0.5937777777777777 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357430284_fkidlplxo", + "x": 0.7805000000000001, + "y": 0.5955555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357443212_zperoptfi", + "x": 0.6385, + "y": 0.45866666666666667, + "width": 0.2880000000000001, + "height": 0.4924444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，继续调整爪夹角度使其垂直于桌面，爪夹向爪夹方向的右侧略微移动。", + "correction_plan": "爪夹继续下降，调整爪夹角度平行于桌面。然后向爪夹方向的右侧移动至烤箱门的正上方，后下降，爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹张开，爪夹在水平方向上更接近烤箱门，爪夹继续调整爪夹角度使其平行于桌面。", + "frame": 209, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近烤箱门，且爪夹继续调整爪夹角度使其平行于桌面，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上更接近烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续下降，调整爪夹角度平行于桌面。", + "time": 6.982989690721649, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357447500_mpowa6evp", + "x": 0.45949999999999996, + "y": 0.5848888888888889 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357449956_kemis7jyb", + "x": 0.7795, + "y": 0.5848888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357458244_y3jb9z80r", + "x": 0.5375, + "y": 0.4195555555555555, + "width": 0.31899999999999995, + "height": 0.5457777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹下降，向爪夹方向的右侧略微移动，继续调整爪夹角度使其平行于桌面。", + "correction_plan": "爪夹下降，合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动至烤箱门正上方，并调整爪夹角度使其平行于桌面。", + "frame": 133, + "progress": 20, + "progress_explanation": "当前爪夹悬空于烤箱门的正上方，接近烤箱门，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于烤箱门的正上方。\n为完成爪夹关闭烤箱门的任务应当:爪夹下降，合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "time": 8.866666666666667, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357470356_p21bp2fi6", + "x": 0.45149999999999996, + "y": 0.5831111111111111 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357472244_zofpn8o5c", + "x": 0.7795, + "y": 0.5831111111111111 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357479780_5vfej304k", + "x": 0.5465, + "y": 0.1706666666666667, + "width": 0.24700000000000005, + "height": 0.7875555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动并下降。", + "correction_plan": "爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动并下降，爪夹左触碰烤箱门。", + "frame": 304, + "progress": 30, + "progress_explanation": "当前爪夹向爪夹方向的右侧略微移动并下降后，爪夹左触碰烤箱门，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "time": 10.13659793814433, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357491284_r3f17mm09", + "x": 0.5225000000000001, + "y": 0.5688888888888889 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357493284_iug8ebugc", + "x": 0.7045, + "y": 0.5795555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357502117_ayqu7wmnx", + "x": 0.5155000000000001, + "y": 0.12266666666666666, + "width": 0.257, + "height": 0.8355555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取烤箱门。", + "correction_plan": "爪夹抓住烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹合拢成功抓取到烤箱门。", + "frame": 170, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到烤箱门，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，烤箱门已被抓取。\n为完成爪夹关闭烤箱门的任务应当:爪夹抓住烤箱门上升，直至烤箱关闭。", + "time": 11.333333333333334, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357515292_977gn5syt", + "x": 0.5955, + "y": 0.5724444444444445 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357517108_14qw5xg8a", + "x": 0.6475000000000001, + "y": 0.5653333333333334 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357524436_1z2z5qjpc", + "x": 0.5255, + "y": 0.1511111111111111, + "width": 0.2, + "height": 0.8071111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹推动烤箱门向爪夹的上方移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方移动，略微接近烤箱。", + "frame": 394, + "progress": 50, + "progress_explanation": "当前爪夹推动烤箱门略微接近烤箱，因此进度提升为50%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门略微接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 13.12422680412371, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357537892_34qvf0yvx", + "x": 0.4925, + "y": 0.5760000000000001 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357540212_8afdna1xe", + "x": 0.7315, + "y": 0.5777777777777777 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357547732_yn809rtu5", + "x": 0.3745, + "y": 0.2737777777777778, + "width": 0.16500000000000004, + "height": 0.6933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动。", + "frame": 447, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门接近烤箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 14.891891891891891, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357558548_9vdwdwkoq", + "x": 0.5305, + "y": 0.5617777777777778 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357561564_nyix75b2y", + "x": 0.6715, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357569356_w1krfeoso", + "x": 0.4445, + "y": 0.19733333333333336, + "width": 0.30700000000000005, + "height": 0.7715555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，爪夹推动烤箱门更接近烤箱。", + "frame": 501, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门更接近烤箱，因此进度提升为70%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门更接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:", + "time": 16.704639175257732, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357578908_1lyxl7hva", + "x": 0.5395000000000001, + "y": 0.5599999999999999 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357581156_ujnctr9vg", + "x": 0.6785, + "y": 0.5635555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357587316_zhh9d3pot", + "x": 0.3115, + "y": 0.19377777777777774, + "width": 0.34, + "height": 0.768 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，爪夹推动烤箱门即将关闭烤箱。", + "frame": 281, + "progress": 80, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门即将关闭烤箱，因此进度提升为80%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门即将关闭烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 18.733333333333334, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357604628_moe0fxjm8", + "x": 0.5155000000000001, + "y": 0.5582222222222223 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357606772_4d0myvnw0", + "x": 0.7075, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357621253_ekmbtlzyx", + "x": 0.21950000000000003, + "y": 0.16355555555555557, + "width": 0.395, + "height": 0.7982222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动，关闭烤箱门。", + "correction_plan": "", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，关闭烤箱门。", + "frame": 305, + "progress": 100, + "progress_explanation": "当前烤箱门完全关闭，因此进度提升至100%。", + "state_description": 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at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json new file mode 100644 index 0000000000000000000000000000000000000000..6948f7c96b916b91e5253985dd7f050c3ba709fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json @@ -0,0 +1,738 @@ +{ + "task_description": "将瓶子抓起移动至桌子边缘:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近桌子边缘:60%\n爪夹将瓶子放在桌子边缘:80%\n爪夹松开，瓶子落在桌子边缘:90%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768353556257": { + "instances": [ + { + "height": 0.19022509128555648, + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008032.json new file mode 100644 index 0000000000000000000000000000000000000000..23e9bb7ad5adafed87130dd148d667fd4f0114f1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008032.json @@ -0,0 +1,646 @@ +{ + "task_description": "将杯子抓起向左边移动:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子向左边移动:60%\n爪夹松开，杯子落在桌子上:80%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768375206516": { + "instances": [ + { + "height": 0.1866694821026489, + "id": "bbox_1768375206516_1768375242892_h4pejiddv", + "width": 0.08399999999999999, + "x": 0.40332202148437507, + "y": 0.616928331492847 + } + ], + "type": "bbox" + }, + "bbox_1768375206684": { + "instances": [ + { + "height": 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"color": "#4CAF50", + "id": "bbox_1768375206516", + "name": "杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1768375206684", + "name": "桌子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768375207772", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768375207964", + "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_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008161.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008161.json new file mode 100644 index 0000000000000000000000000000000000000000..9a6a333ef70b46c4f9fa3badac4f610b0fad7137 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008161.json @@ -0,0 +1,590 @@ 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/dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008896.json @@ -0,0 +1,536 @@ +{ + "task_description": "从桌上抓起绿色方块放置碗中:\n开始移动:0%\n爪夹靠近方块:20%\n爪夹抓取方块:40%\n爪夹抓住方块接近碗:60%\n爪夹抓取方块移动至碗上方:80%\n爪夹松开，方块落入碗中:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768438260935": { + "instances": [ + { + "height": 0.0817790112068748, + "id": "bbox_1768438260935_1768438291303_ozl3biqfq", + "width": 0.04900000000000002, + "x": 0.678322021484375, + "y": 0.7680417217664198 + } + ], + "type": "bbox" + }, + "bbox_1768438261103": { + "instances": [ + { + "height": 0.1528911948650267, + "id": "bbox_1768438261103_1768438293839_wkz5u9u37", + "width": 0.1120000000000001, + "x": 0.616322021484375, + "y": 0.5689276075235944 + } + ], + "type": "bbox" + }, + "point_1768438261814": { + "instances": [ + { + "id": 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], + "type": "point" + } + }, + "correction_plan": "爪夹向前方移动调整角度。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 82, + "progress": 20, + "progress_explanation": "相比于上一进度，爪夹已靠近方块。因此进度提升为20%。", + "state_description": "当前爪夹张开靠近绿色方块。为完成从桌上抓起绿色方块放置碗中的任务应当:爪夹向前方移动调整角度。", + "time": 2.735141315579947 + }, + { + "action_description": "爪夹向前方移动。", + "annotations": { + "bbox_1768438260935": { + "instances": [ + { + "height": 0.06400096529233679, + "id": "bbox_1768438260935_1768438521471_p7t7gr9ev", + "width": 0.03125, + "x": 0.676322021484375, + "y": 0.7644861125835122 + } + ], + "type": "bbox" + }, + "bbox_1768438261103": { + "instances": [ + { + "height": 0.1511133902735729, + "id": "bbox_1768438261103_1768438524848_g4kc8ylgp", + "width": 0.11300000000000007, + "x": 0.614322021484375, + "y": 0.5689276075235944 + } + ], + "type": "bbox" + }, + "point_1768438261814": { + "instances": [ + { + "id": "point_1768438261814_1768438551399_m1elm6r3q", + "x": 0.693322021484375, + "y": 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} + }, + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 168, + "progress": 80, + "progress_explanation": "相比于上一进度，当前爪夹已抓取方块移动至碗上方。因此进度提升为80%。", + "state_description": "当前爪夹处于碗上方。为完成从桌上抓起绿色方块放置碗中的任务应当:松开爪夹。", + "time": 5.605863122796442 + }, + { + "action_description": "爪夹打开。", + "annotations": { + "bbox_1768438260935": { + "instances": [ + { + "height": 0.07111218365815199, + "id": "bbox_1768438260935_1768438661279_vermm15im", + "width": 0.04800000000000004, + "x": 0.6553220214843749, + "y": 0.6222617452672083 + } + ], + "type": "bbox" + }, + "bbox_1768438261103": { + "instances": [ + { + "height": 0.1440021719077577, + "id": "bbox_1768438261103_1768438664047_znwurlpur", + "width": 0.11500000000000013, + "x": 0.613322021484375, + "y": 0.5671498029321406 + } + ], + "type": "bbox" + }, + "point_1768438261814": { + "instances": [ + { + "id": "point_1768438261814_1768438666735_3xthy7tzd", + "x": 0.690322021484375, + "y": 0.6151505269013932 + } + ], + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008471.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008471.json new file mode 100644 index 0000000000000000000000000000000000000000..23d89799d0f0a30aa125075f03da9ae7109d4222 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008471.json @@ -0,0 +1,542 @@ +{ + "task_description": "将遥控器放入黄色碗中:\n开始移动:0%\n爪夹靠近遥控器:20%\n爪夹抓取遥控器:40%\n爪夹抓住遥控器接近黄色碗:60%\n爪夹将遥控器移动至黄色碗上:80%\n爪夹松开，落入黄色碗中:90%\n爪夹向后上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768448392776": { + "instances": [ + { + "height": 0.3128936080958686, + "id": "bbox_1768448392776_1768448470409_qzwhi1cff", + "width": 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"state_description": "当前爪夹处于黄色碗侧上方。", + "time": 18.933333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768448392601", + "name": "遥控器" + }, + { + "color": "#FF9800", + "id": "bbox_1768448392776", + "name": "黄色碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768448393881", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768448394057", + "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_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008577.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008577.json new file mode 100644 index 0000000000000000000000000000000000000000..844f86897f187a821dbc19f566a71577847d8a95 --- /dev/null +++ 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009839.json @@ -0,0 +1,402 @@ +{ + "task_description": "将罐子移到右前角。\n准备移动:0%\n爪夹靠近罐子：20%\n爪夹触碰罐子:40%\n爪夹推动罐子向前方移动:60%\n爪夹将推动罐子移动到右前角:80%\n爪夹松开，罐子在桌子右前角:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "bbox_1768267223674": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1768267223674_1768267428592_hxg96izjf", + "width": 0.06800000000000006, + "x": 0.7413333129882813, + "y": 0.3691851671006945 + } + ], + "type": "bbox" + }, + "bbox_1768353312660": { + "instances": [ + { + "height": 0.15288888888888888, + "id": "bbox_1768353312660_1768353330371_oqzkpwf91", + "width": 0.06799999584960954, + "x": 0.7431110386284766, + "y": 0.6023456759982638 + } + ], + "type": "bbox" + }, + "point_1768267224890": { + "instances": [ + { + "id": "point_1768267224890_1768267418528_8k7qg92xt", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009315.json @@ -0,0 +1,1228 @@ +{ + "task_description": "将右边白色杯子里的水倒入水槽，然后把杯子放到左边桌子。\n准备移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子将水倒入水槽:60%\n爪夹将杯子放到左边桌子边:80%\n爪夹松开，杯子放在左边桌子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768180754815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768180754815_1768181334304_lkbmv2ncb", + "x": 0.5623750000000001, + "y": 0.4171527777777778, + "width": 0.041999999999999996, + "height": 0.056888888888888864 + } + ] + }, + "point_1768180757216": { + "type": "point", + "instances": [ + { + "id": "point_1768180757216_1768181351793_rlxka0c0v", + "x": 0.637375, + "y": 0.24693055555555554 + } + ] + }, + "point_1768180757702": { + "type": "point", + "instances": [ + { + "id": "point_1768180757702_1768181346129_0qxj0qi93", + "x": 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"bbox_1768180754815_1768181823537_5c3tkj3vh", + "x": -0.001624999999999999, + "y": 0.6700416666666666, + "width": 0.14300000000000002, + "height": 0.25955555555555565 + } + ] + }, + "point_1768180757216": { + "type": "point", + "instances": [ + { + "id": "point_1768180757216_1768181813833_36ixsg3t5", + "x": 0.321375, + "y": 0.5882638888888889 + } + ] + }, + "bbox_1768353400353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768353400353_1768353763073_fbk7art6a", + "x": 0.009111083428278599, + "y": 0.7177037014431423, + "width": 0.15299999066162165, + "height": 0.23466666666666672 + } + ] + } + }, + "correction_plan": "爪夹松开，右边白色杯子成功放在了左边，将右边白色杯子里的水倒入水槽，然后把杯子放到左边的任务完成了。", + "error_success_analysis": "右边白色杯子成功放在了左边。", + "frame": 1142, + "progress": 100, + "progress_explanation": "爪夹松开，右边白色杯子位于左边，因此进度提升为100%。", + "state_description": "右边白色杯子已放在左边。将右边白色杯子里的水倒入水槽，然后把杯子放到左边的任务完成了。", + "time": 38.07157461286422 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768180754815", + "name": "右边白色杯子" + }, + { + "id": "bbox_1768353400353", + "name": "左边桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768180757216", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768180757702", + "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_0007/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009995.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009995.json new file mode 100644 index 0000000000000000000000000000000000000000..614c0f544f95ef44d66b9e4673a863ac710a583b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009995.json @@ -0,0 +1,277 @@ +{ + "task_description": "关闭右侧的抽屉。\n准备开始移动：0%\n爪夹靠近右侧的抽屉：20%\n爪夹推动右侧的抽屉：40%\n爪夹推动并即将关上右侧的抽屉：60%\n爪夹推动右侧的抽屉，抽屉关上：80%\n爪夹张开，右侧的抽屉关上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的左下方的抽屉靠近，调整爪夹角度接近垂直于地面。接着继续向爪夹方向的左下方靠近右侧抽屉，合拢爪夹推动右侧抽屉，爪夹向爪夹方向的前方推动右侧抽屉，直至右侧抽屉关上，松开爪夹。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，为开始移动。\n为完成关闭右侧的抽屉的任务应当：爪夹向爪夹方向的抽屉移动，调整爪夹角度接近垂直于地面。", + "time": 0.5993921602989705, + "annotations": { + "bbox_1768192111998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768192111998_1768192237350_27efpke4u", + "x": 0.3941110599297449, + "y": 0.4850123426649305, + "width": 0.20299998760986404, + "height": 0.24711111111111128 + } + ] + }, + "point_1768192113438": { + "type": "point", + "instances": [ + { + "id": "point_1768192113438_1768192253622_hmjbsdzdb", + "x": 0.6341110452813082, + "y": 0.41567900933159724 + } + ] + }, + "point_1768192113798": { + "type": "point", + "instances": [ + { + "id": "point_1768192113798_1768192257518_xfcjhqudg", + "x": 0.6531110441216403, + "y": 0.41212345377604165 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "correction_plan": "爪夹继续向爪夹方向的左下方靠近右侧抽屉，合拢爪夹推动右侧抽屉，爪夹向爪夹方向的前方推动右侧抽屉，直至右侧抽屉关上，松开爪夹。", + "error_success_analysis": "爪夹角度接近垂直于地面，爪夹靠近了右侧抽屉。", + "frame": 63, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于地面，爪夹靠近了右侧抽屉，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于地面，爪夹靠近了右侧抽屉。\n为了完成关闭右侧抽屉的任务应当：爪夹继续向爪夹方向的左前方移动，合拢爪夹推动右侧抽屉，爪夹推动右侧抽屉向爪夹方向的前方移动。", + "time": 2.0845815074436778, + "annotations": { + "point_1768192113798": { + "type": "point", + "instances": [ + { + "id": "point_1768192113798_1768192310838_viggk1be7", + "x": 0.6311110454644137, + "y": 0.5419012315538194 + } + ] + }, + "point_1768192113438": { + "type": "point", + "instances": [ + { + "id": "point_1768192113438_1768192314086_2s4jzc294", + "x": 0.5991110474175386, + "y": 0.5330123426649306 + } + ] + }, + "bbox_1768192111998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768192111998_1768192325934_mbeagfvn0", + "x": 0.3911110601128503, + "y": 0.47790123155381947, + "width": 0.19899998785400458, + "height": 0.23644444444444446 + } + ] + } + } + }, + { + "time": 3.0730350534947943, + "frame": 92, + "progress": 30, + "action_description": "爪夹向爪夹方向的左前方移动并合拢爪夹。", + "state_description": "当前爪夹合拢，爪夹接触右侧抽屉。\n为完成关闭右侧的抽屉的任务应当：爪夹推动右侧的抽屉向爪夹方向的前方移动，直至抽屉关闭后松开爪夹。", + "progress_explanation": "当前爪夹合拢，已接触右侧的抽屉，因此进度提升为30%。", + "error_success_analysis": "爪夹合拢并成功接触右侧抽屉，方便推动右侧抽屉，直至抽屉关上。", + "correction_plan": "合拢爪夹推动右侧抽屉，爪夹向爪夹方向的前方推动右侧抽屉，直至右侧抽屉关上，松开爪夹。", + "annotations": { + "bbox_1768192111998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768192111998_1768192348271_6jpj4d11a", + "x": 0.3951110598687097, + "y": 0.4796790093315972, + "width": 0.1759999892578131, + "height": 0.2400000000000001 + } + ] + }, + "point_1768192113438": { + "type": "point", + "instances": [ + { + "id": "point_1768192113438_1768192358559_gkmd1wc3z", + "x": 0.5721110490654877, + "y": 0.609456787109375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，推动右侧抽屉。", + "correction_plan": "爪夹向爪夹方向的前方推动右侧抽屉，直至右侧抽屉关上，松开爪夹。", + "error_success_analysis": "爪夹成功推动右侧抽屉并向前运动。", + "frame": 61, + "progress": 40, + "progress_explanation": "当前爪夹合拢，推动了右侧的抽屉，因此进度提升为40%。", + "state_description": "当前爪夹合拢，推动了右侧的抽屉。\n为完成关闭右侧的抽屉的任务应当：爪夹继续推动右侧的抽屉向爪夹方向的前方移动，直至抽屉关闭后松开爪夹。", + "time": 4.066666666666666, + "annotations": { + "point_1768192113798": { + "type": "point", + "instances": [ + { + "id": "point_1768192113798_1768206307807_i077x10g7", + "x": 0.557111049981015, + "y": 0.5746913519965278 + } + ] + }, + "bbox_1768192111998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768192111998_1768206313983_29pdip132", + "x": 0.39311105999078, + "y": 0.48224690755208344, + "width": 0.1609999901733404, + "height": 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"爪夹向爪夹方向的右上方移动。", + "correction_plan": "爪夹张开，右侧的抽屉已经关闭。", + "error_success_analysis": "爪夹向爪夹方向的右上方移动，右侧的抽屉成功关上了。", + "frame": 128, + "progress": 90, + "progress_explanation": "当前爪夹张开，右侧的抽屉已经关上，因此进度提升为90%", + "state_description": "当前爪夹张开，关闭右侧的抽屉的任务完成了。", + "time": 8.533333333333333, + "annotations": { + "point_1768192113438": { + "type": "point", + "instances": [ + { + "id": "point_1768192113438_1768192404062_kueks55lv", + "x": 0.5161110524834562, + "y": 0.4725678982204861 + } + ] + }, + "point_1768192113798": { + "type": "point", + "instances": [ + { + "id": "point_1768192113798_1768192408350_an1n364nl", + "x": 0.5541110501641204, + "y": 0.4547901204427084 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右上方移动\n", + "correction_plan": "爪夹张开，关闭右侧的抽屉的任务完成了。", + "error_success_analysis": "爪夹张开，成功关闭了右侧的抽屉。", + "frame": 140, + "progress": 100, + "progress_explanation": "当前爪夹张开，已经关闭右侧的抽屉，因此进度提升为100%", + "state_description": "当前关闭右侧的抽屉的任务已经完成了", + "time": 9.333333333333334, + "annotations": { + "point_1768192113798": { + "type": "point", + "instances": [ + { + "id": "point_1768192113798_1768192413557_hu5edhu3i", + "x": 0.5781110486992768, + "y": 0.39790123155381946 + } + ] + }, + "point_1768192113438": { + "type": "point", + "instances": [ + { + "id": "point_1768192113438_1768192418215_vr257ingd", + "x": 0.5331110514458587, + "y": 0.3996790093315973 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768192111998", + "name": "抽屉", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768192113438", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768192113798", + "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_0007/annotations/chunk-009/observation.images.wrist_image_left/episode_009022.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.wrist_image_left/episode_009022.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9deff44c850e901f12a25cf0f2a4b1f2c1b6cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-009/observation.images.wrist_image_left/episode_009022.json @@ -0,0 +1,588 @@ +{ + "task_description": "抓取灰色茶壶放在左边。\n准备移动:0%\n爪夹位于灰色茶壶的正上方：20%\n爪夹抓取灰色茶壶:40%\n爪夹抓住灰色茶壶向左边移动:60%\n爪夹将灰色茶壶移动到左边:80%\n爪夹松开，灰色茶壶落在左边:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "point_1768266314733": { + "type": "point", + "instances": [ + { + "id": "point_1768266314733_1768266552540_w6ho4pi8s", + "x": 0.43150000000000005, + "y": 0.624 + } + ] + }, + "point_1768266315117": { + "type": "point", + "instances": [ + { + "id": "point_1768266315117_1768266555404_xgfybujv5", + "x": 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