Add files using upload-large-folder tool

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001195.json

@@ -0,0 +1,791 @@
+{
+    "task_description": "拿起木勺搅拌锅里的食物\n爪夹准备移动：0\n爪夹接近木勺：30%\n爪夹抓取木勺：60%\n爪夹抓住木勺搅拌食物：80%\n爪夹松开，搅拌食物完成：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动",
+            "correction_plan": "爪夹向右前方移动，爪夹调整角度随后下降，接近木勺；爪夹下降，随后合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "爪夹没有移动，没有接近木勺，因此任务进度为0.",
+            "state_description": "爪夹当前为张开状态，没有移动，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹向右前方移动，随后下降，接近木勺。",
+            "time": 0,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815101790_hrmj7slhx",
+                            "x": 0.5800411853821976,
+                            "y": 0.8121697814299035,
+                            "width": 0.12044572066873967,
+                            "height": 0.09015847739946266
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815104274_d9lw9lr2u",
+                            "x": 0.6307551730321933,
+                            "y": 0.7445509233803067
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815106610_af8ze8wod",
+                            "x": 0.6846387849103136,
+                            "y": 0.7642730903114392
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右前方移动",
+            "correction_plan": "爪夹调整角度随后下降，接近木勺；爪夹下降，随后合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹向右前方移动至木勺上方，方便抓取木勺",
+            "frame": 68,
+            "progress": 15,
+            "progress_explanation": "爪夹向右前方移动至木勺上方，因此任务进度提升为15%。",
+            "state_description": "爪夹当前为张开的状态，在木勺上方，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹调整角度，随后下降，接近木勺。",
+            "time": 2.2706814171528356,
+            "annotations": {
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815112096_p939kp0kq",
+                            "x": 0.7258438998759351,
+                            "y": 0.8178046862673699
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815115402_gdnb7r8dz",
+                            "x": 0.66879066376969,
+                            "y": 0.7642730903114392
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815118929_u5sfbmsaz",
+                            "x": 0.5879652459525094,
+                            "y": 0.8178046862673699,
+                            "width": 0.11093684798436546,
+                            "height": 0.07888866772452982
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度随后下降",
+            "correction_plan": "爪夹合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹下降，接近了木勺，方便抓取木勺。",
+            "frame": 117,
+            "progress": 30,
+            "progress_explanation": "爪夹下降，接近了木勺，因此任务进度提升为30%。",
+            "state_description": "爪夹当前为张开的状态，接近木勺，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹合拢抓取木勺。",
+            "time": 3.914969690942676,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815125689_dr4au5qbj",
+                            "x": 0.5879652459525094,
+                            "y": 0.831891948361036,
+                            "width": 0.10618241164217838,
+                            "height": 0.04507923869973133
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815128137_qnjfsm2yn",
+                            "x": 0.6719602879978147,
+                            "y": 0.831891948361036
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹合拢，距离木勺进了一步，方便抓取木勺。",
+            "frame": 160,
+            "progress": 35,
+            "progress_explanation": "爪夹合拢，距离木勺进了一步，因此任务进度提升为35%%.",
+            "state_description": "爪夹当前为合拢的状态，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹张开，向前方移动，接近木勺。",
+            "time": 5.324359639905398,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815137169_s6frg51wt",
+                            "x": 0.5895500580665718,
+                            "y": 0.8206221386861031,
+                            "width": 0.10459759952811601,
+                            "height": 0.07607121530579661
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，向前方移动",
+            "correction_plan": "爪夹合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹向前方轻微移动，距离抓取木勺又近了一步。",
+            "frame": 214,
+            "progress": 40,
+            "progress_explanation": "爪夹向前方轻微移动，距离抓取木勺又近了一步，因此任务进度提升为40%。",
+            "state_description": "爪夹当前为合拢的状态，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹合拢抓取木勺。",
+            "time": 7.125246796913319,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815142881_nu7znqv73",
+                            "x": 0.5958893065228212,
+                            "y": 0.8262570435235695,
+                            "width": 0.10301278741405362,
+                            "height": 0.0704363104683302
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815145089_f1rv4uxqc",
+                            "x": 0.6782995364540642,
+                            "y": 0.8008999717549709
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815147506_f32z66y4i",
+                            "x": 0.7321831483321846,
+                            "y": 0.8713362822233008
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向前移动，随后爪夹合拢抓取木勺",
+            "correction_plan": "爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹角度正确，更加容易抓住木勺。",
+            "frame": 275,
+            "progress": 60,
+            "progress_explanation": "爪夹成功抓取木勺，因此任务进度提升为60%。",
+            "state_description": "爪夹当前为合拢的状态，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹夹住木勺向上抬升，随后顺时针转动搅拌食物",
+            "time": 9.161032278748364,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815155153_nyod4r78d",
+                            "x": 0.6022285549790707,
+                            "y": 0.8290744959423028,
+                            "width": 0.09984316318592894,
+                            "height": 0.06198395321213057
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815164233_yic4st0jp",
+                            "x": 0.6751299122259394,
+                            "y": 0.831891948361036
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815170249_ap7qhst33",
+                            "x": 0.7020717181649997,
+                            "y": 0.8572490201296349
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺向上抬升",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹向上抬升，方便搅拌食物。",
+            "frame": 329,
+            "progress": 70,
+            "progress_explanation": "爪夹向上抬升，方便搅拌食物，因此任务进度提升为70%。",
+            "state_description": "爪夹当前为合拢的状态，爪夹夹住木勺，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹夹住木勺顺时针转动搅拌锅里的食物。",
+            "time": 10.961919435756283,
+            "annotations": {
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815175577_hykd23zs0",
+                            "x": 0.6592817910853158,
+                            "y": 0.8065348765924373
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815178008_3n5oclilj",
+                            "x": 0.6434336699446922,
+                            "y": 0.7783603524051051
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815183560_afvro7vcj",
+                            "x": 0.58162599749626,
+                            "y": 0.7755428999863719,
+                            "width": 0.07448616936093107,
+                            "height": 0.12396790642426099
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹松开",
+            "correction_plan": "爪夹轻微向右调整角度，随后下降，接近木勺，爪夹下降，随后合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹松开，木勺掉落在锅里，需重新抓取。",
+            "frame": 366,
+            "progress": 15,
+            "progress_explanation": "爪夹松开，木勺掉落在锅里，因此任务进度倒退为15%。",
+            "state_description": "爪夹当前为张开状态，木勺掉落在锅里，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹轻微向右调整角度，随后下降，接近木勺。",
+            "time": 12.214710501500925,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815198195_5986ahknb",
+                            "x": 0.5927196822946965,
+                            "y": 0.8431617580359688,
+                            "width": 0.10142797529999133,
+                            "height": 0.06761885804959698
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815201392_cn230hva2",
+                            "x": 0.6260007366900061,
+                            "y": 0.7755428999863719
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815203680_yei2gjupe",
+                            "x": 0.6608666031993782,
+                            "y": 0.8290744959423028
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹轻微向右调整角度，随后下降。",
+            "correction_plan": "爪夹合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹轻微调整角度并下降，方便抓取木勺。",
+            "frame": 423,
+            "progress": 30,
+            "progress_explanation": "爪夹轻微调整角度并下降，接近木勺，因此任务进度提升为30%。",
+            "state_description": "爪夹当前为张开状态，接近木勺，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹合拢抓取木勺。",
+            "time": 14.093897100117886,
+            "annotations": {
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815209640_ec4wlvrlz",
+                            "x": 0.6291703609181309,
+                            "y": 0.8093523290111705
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815213768_zkzyyh00q",
+                            "x": 0.58162599749626,
+                            "y": 0.845979210454702,
+                            "width": 0.09667353895780417,
+                            "height": 0.05634904837466416
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹轻微下降，随后爪夹合拢抓取木勺。",
+            "correction_plan": "爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹角度正确，更加容易抓住木勺。",
+            "frame": 477,
+            "progress": 60,
+            "progress_explanation": "爪夹成功抓取木勺，因此任务进度提升为60%。",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住木勺，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹夹住木勺向上抬升，随后顺时针转动搅拌食物。",
+            "time": 15.894784257125805,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815220024_50vcj3741",
+                            "x": 0.58162599749626,
+                            "y": 0.8431617580359688,
+                            "width": 0.09191910261561712,
+                            "height": 0.05634904837466416
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺向上抬升",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹向上抬升，使木勺方便搅拌。",
+            "frame": 536,
+            "progress": 70,
+            "progress_explanation": "爪夹向上抬升，开始搅拌食物，因此任务进度提升为70%。",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住木勺，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹夹住木勺顺时针转动搅拌锅里的食物。",
+            "time": 17.852270297351808,
+            "annotations": {
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815227543_2nsldut30",
+                            "x": 0.6386792336025051,
+                            "y": 0.7586381854739728
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815230313_fylqrk8n5",
+                            "x": 0.6529425426290664,
+                            "y": 0.7783603524051051
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815234159_ru0r0g2rp",
+                            "x": 0.6101526155493826,
+                            "y": 0.7586381854739728,
+                            "width": 0.04912917553593328,
+                            "height": 0.1634122402865259
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 646,
+            "progress": 80,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为80%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 21.532344052976693,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815239671_x6sfxe8fv",
+                            "x": 0.6149070518915696,
+                            "y": 0.7473683757990399,
+                            "width": 0.050713987649995663,
+                            "height": 0.16904714512399233
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815242719_ihk5sugsa",
+                            "x": 0.6180766761196944,
+                            "y": 0.7980825193362376
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815244951_ovy205n3o",
+                            "x": 0.6339247972603179,
+                            "y": 0.8093523290111705
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 731,
+            "progress": 83,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为83%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 24.351123950902135,
+            "annotations": {
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815250066_s483l7dod",
+                            "x": 0.5752867490400105,
+                            "y": 0.8178046862673699
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815252287_66z5eh0vr",
+                            "x": 0.5594386278993869,
+                            "y": 0.8178046862673699
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815256030_e3v0gu859",
+                            "x": 0.5594386278993869,
+                            "y": 0.7755428999863719,
+                            "width": 0.033281054395309616,
+                            "height": 0.14650752577412665
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 417,
+            "progress": 86,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为86%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 27.8,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815261863_jtg40q7hx",
+                            "x": 0.6149070518915696,
+                            "y": 0.7727254475676387,
+                            "width": 0.04437473919374622,
+                            "height": 0.1267853588429942
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815263846_lyskeznk4",
+                            "x": 0.6069829913212578,
+                            "y": 0.7783603524051051
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815265390_q9brqspot",
+                            "x": 0.6228311124618815,
+                            "y": 0.789630162080038
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 947,
+            "progress": 90,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为90%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 31.554672578933822,
+            "annotations": {
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815269079_u4mwfj6w6",
+                            "x": 0.6038133670931332,
+                            "y": 0.7980825193362376
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815271686_qye27nclu",
+                            "x": 0.5879652459525094,
+                            "y": 0.8037174241737041
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815275022_ruwnwy7hp",
+                            "x": 0.5832108096103223,
+                            "y": 0.7699079951489055,
+                            "width": 0.07924060570311812,
+                            "height": 0.13242026368046061
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 1024,
+            "progress": 92,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为92%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 34.13855415203215,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815280791_tvvpkwu6r",
+                            "x": 0.5927196822946965,
+                            "y": 0.761455637892706,
+                            "width": 0.0681469209046817,
+                            "height": 0.1549598830303263
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815285047_l9kqd9ibi",
+                            "x": 0.599058930750946,
+                            "y": 0.7783603524051051
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 1135,
+            "progress": 95,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为95%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：木勺继续搅拌锅里的食物。",
+            "time": 37.818627907657024,
+            "annotations": {
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815295661_b8vm8c7k2",
+                            "x": 0.5673626884696987,
+                            "y": 0.7445509233803067,
+                            "width": 0.09508872684374178,
+                            "height": 0.1718645975427255
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815297398_26455ge8p",
+                            "x": 0.5721171248118858,
+                            "y": 0.7755428999863719
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815299294_5652kd8nk",
+                            "x": 0.5863804338384471,
+                            "y": 0.7727254475676387
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住木勺继续顺时针转动",
+            "correction_plan": "爪夹松开，搅拌食物完成",
+            "error_success_analysis": "爪夹夹住木勺顺时针转动，方便搅拌食物。",
+            "frame": 1250,
+            "progress": 97,
+            "progress_explanation": "爪夹夹住木勺顺时针转动，开始搅拌食物，因此任务进度提升为97%。",
+            "state_description": "爪夹当前为张开状态，木勺在转动，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹松开，搅拌食物完成。",
+            "time": 41.65530054649999,
+            "annotations": {
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815303286_y6e59pckl",
+                            "x": 0.6275855488040685,
+                            "y": 0.8121697814299035
+                        }
+                    ]
+                },
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815305927_x288u7hr8",
+                            "x": 0.6085678034353201,
+                            "y": 0.8149872338486367
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815310174_hvex6ebxe",
+                            "x": 0.5943044944087589,
+                            "y": 0.7530032806365063,
+                            "width": 0.07290135724686878,
+                            "height": 0.1662296927052591
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右侧移动，随后向上抬升并松开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开，搅拌食物完成",
+            "frame": 685,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，搅拌食物完成，因此任务进度提升为100%。",
+            "state_description": "爪夹当前为张开的状态，远离木勺，爪夹已完成拿起木勺搅拌锅里的食物的任务。",
+            "time": 45.666666666666664,
+            "annotations": {
+                "point_1768815051830": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815051830_1768815313454_wingnxr62",
+                            "x": 0.5927196822946965,
+                            "y": 0.7417334709615735
+                        }
+                    ]
+                },
+                "point_1768815057515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768815057515_1768815315342_6cup9fq48",
+                            "x": 0.6133222397775072,
+                            "y": 0.7276462088679074
+                        }
+                    ]
+                },
+                "bbox_1768815024948": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768815024948_1768815321669_u2kwgoypp",
+                            "x": 0.5499297552150126,
+                            "y": 0.8178046862673699,
+                            "width": 0.09508872684374188,
+                            "height": 0.08734102498072945
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768815024948",
+            "name": "木勺",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768815051830",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768815057515",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001290.json

@@ -0,0 +1,875 @@
+{
+    "task_description": "将锅盖盖上，然后把锅移到右侧台面\n爪夹准备移动：0\n爪夹接近锅盖：10%\n爪夹抓取锅盖：20%\n爪夹抓住锅盖接近锅具：30%\n爪夹松开，锅盖放在锅具上：50%\n爪夹接近锅具把手：60%\n爪夹抓取锅具把手：70%\n爪夹抓住锅具把手接近右侧台面：80%\n爪夹松开，锅具放在右侧台面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动",
+            "correction_plan": "爪夹向右前方移动，随后调整角度并下降，接近锅盖；爪夹继续下降，随后爪夹合拢抓取锅盖，爪夹夹住锅盖向上抬升，随后向左侧移动，接近锅具，爪夹夹住锅盖移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "",
+            "frame": 12,
+            "progress": 0,
+            "progress_explanation": "爪夹当前没有移动，没有接近锅盖，因此任务进度为0",
+            "state_description": "爪夹当前为张开状态，暂未移动，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹向右前方移动，随后调整角度并下降，接近锅盖。",
+            "time": 0.3892777708111961,
+            "annotations": {
+                "point_1768810081991": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810081991_1768810391206_gps2npmtv",
+                            "x": 0.46276508894158275,
+                            "y": 0.5811386830937809
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810393231_nt1zvfelc",
+                            "x": 0.5483449431009504,
+                            "y": 0.6205830169560457
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810398398_qp5n8672a",
+                            "x": 0.7971604450087415,
+                            "y": 0.5867735879312472,
+                            "width": 0.196516702143733,
+                            "height": 0.30428486122318604
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810403999_jho0kiz70",
+                            "x": 0.3803548590103398,
+                            "y": 0.35574248959512456,
+                            "width": 0.61015266391401,
+                            "height": 0.5578555789091745
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右前方移动",
+            "correction_plan": "爪继续向右前方移动，随后调整角度并下降，接近锅盖；爪夹继续下降，随后爪夹合拢抓取锅盖，爪夹夹住锅盖向上抬升，随后向左侧移动，接近锅具，爪夹夹住锅盖移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向右前方移动，缩短了与锅盖的距离。",
+            "frame": 49,
+            "progress": 5,
+            "progress_explanation": "爪夹爪夹向右前方移动，水平上接近了锅盖，因此任务进度提升为5%。",
+            "state_description": "爪夹当前为张开状态，爪夹接近垂直台面，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹继续向右前方移动，随后调整角度并下降，接近锅盖。",
+            "time": 1.6436215078176046,
+            "annotations": {
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810365583_phq8ay19u",
+                            "x": 0.7924060086665544,
+                            "y": 0.583956135512514,
+                            "width": 0.1996863263718578,
+                            "height": 0.30710231364191926
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810368231_sc4d4rh3f",
+                            "x": 0.43740809511658485,
+                            "y": 0.4712580387631859,
+                            "width": 0.07607098147499354,
+                            "height": 0.07888866772452967
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810371711_ivbbrpane",
+                            "x": 0.4072966649494,
+                            "y": 0.3416552275014585,
+                            "width": 0.5816260458608874,
+                            "height": 0.5860301030965065
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810374967_ro7kwc1nj",
+                            "x": 0.8288566872899887,
+                            "y": 0.5614165161626484
+                        }
+                    ]
+                },
+                "point_1768810081991": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810081991_1768810384743_o4hooi6pq",
+                            "x": 0.7401072089024964,
+                            "y": 0.48816275327558506
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续向右前方移动，随后调整角度并下降",
+            "correction_plan": "爪夹继续下降，随后爪夹合拢抓取锅盖，爪夹夹住锅盖向上抬升，随后向左侧移动，接近锅具，爪夹夹住锅盖移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向右前方移动并下降，接近了锅盖，方便抓取。",
+            "frame": 48,
+            "progress": 10,
+            "progress_explanation": "爪夹向右前方移动并下降，接近了锅盖，因此任务进度提升为10%。",
+            "state_description": "爪夹当前为张开状态，爪夹接近锅盖，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹轻微下降，随后爪夹合拢抓取锅盖。",
+            "time": 3.2,
+            "annotations": {
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810345663_uwpjrxme9",
+                            "x": 0.4310688466603354,
+                            "y": 0.37546465652625693,
+                            "width": 0.553099427807765,
+                            "height": 0.5409508643967753
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810349879_44gvcj3hs",
+                            "x": 0.908097292993107,
+                            "y": 0.6431226363059114
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810354466_3dcrr1mgv",
+                            "x": 0.43265365877439776,
+                            "y": 0.4909802056943183,
+                            "width": 0.08241022993124289,
+                            "height": 0.06761885804959691
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810358527_jafv6poxt",
+                            "x": 0.8003300692368661,
+                            "y": 0.5867735879312472,
+                            "width": 0.19334707791560835,
+                            "height": 0.3155546708981189
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续下降，随后爪夹合拢抓取锅盖",
+            "correction_plan": "爪夹夹住锅盖向上抬升，随后向左侧移动，接近锅具，爪夹夹住锅盖移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹调整角度，更容易成功抓取锅盖。",
+            "frame": 71,
+            "progress": 20,
+            "progress_explanation": "爪夹成功抓取锅盖，因此任务进度提升为20%",
+            "state_description": "爪夹当前为合拢状态，爪夹抓住锅盖，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹夹住锅盖向上抬升，随后向左侧移动，接近锅具。",
+            "time": 4.733333333333333,
+            "annotations": {
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810328232_04w3n0aqp",
+                            "x": 0.9239454141337304,
+                            "y": 0.679749517749443
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810333048_xmt8yli8w",
+                            "x": 0.4310688466603354,
+                            "y": 0.48816275327558506,
+                            "width": 0.08557985415936767,
+                            "height": 0.07325376288706333
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810336806_rl4yqcz53",
+                            "x": 0.795575632894679,
+                            "y": 0.5895910403499804,
+                            "width": 0.1981015142577954,
+                            "height": 0.3211895757355853
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810341481_e4o9t04yt",
+                            "x": 0.43740809511658485,
+                            "y": 0.37828210894499015,
+                            "width": 0.548344991465578,
+                            "height": 0.5268636023031092
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住锅盖向上抬升，随后向左侧移动",
+            "correction_plan": "爪夹向左侧移动，接近锅具，爪夹夹住锅盖移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向左侧移动，缩短了与锅具的距离。",
+            "frame": 180,
+            "progress": 25,
+            "progress_explanation": "爪夹向左侧移动，水平上接近了锅具，因此任务进度提升为25%。",
+            "state_description": "爪夹当前为合拢状态，爪夹抓住锅盖，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹夹住锅盖继续向左侧移动，接近锅具。",
+            "time": 6.012197971184752,
+            "annotations": {
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810309561_meub3ss5b",
+                            "x": 0.42472959820408596,
+                            "y": 0.3501075847576581,
+                            "width": 0.5594386762640144,
+                            "height": 0.5634904837466409
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810313411_3qklny3ni",
+                            "x": 0.43582328300252254,
+                            "y": 0.4797103960193855,
+                            "width": 0.07924060570311812,
+                            "height": 0.08452357256199616
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810317008_yt2gj9a5r",
+                            "x": 0.6038133670931332,
+                            "y": 0.4233613476447214,
+                            "width": 0.24247625345154153,
+                            "height": 0.2282136459173896
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810320832_iyn5x8wah",
+                            "x": 0.7036565302790619,
+                            "y": 0.4740754911819191
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住锅盖继续向左侧移动",
+            "correction_plan": "爪夹夹住锅盖向前移动至锅具正上方并下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向左侧移动，接近锅具，方便将锅盖放在锅具上。",
+            "frame": 231,
+            "progress": 30,
+            "progress_explanation": "爪夹向左侧移动，接近锅具，因此任务进度提升为30%。",
+            "state_description": "爪夹当前为合拢状态，锅盖接近锅具，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹向前方移动至锅具正上方，随后下降，爪夹松开，锅盖放在锅具上。",
+            "time": 7.699074031296819,
+            "annotations": {
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810291841_7wmehhfan",
+                            "x": 0.4342384708884602,
+                            "y": 0.48816275327558506,
+                            "width": 0.07924060570311822,
+                            "height": 0.07043631046833011
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810295961_m378dgq9d",
+                            "x": 0.42472959820408596,
+                            "y": 0.38955191861992294,
+                            "width": 0.12995459335311388,
+                            "height": 0.10706319191186174
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810299664_a6kh0bxqx",
+                            "x": 0.48019802219626867,
+                            "y": 0.38109956136372336
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810303563_atatkkzdi",
+                            "x": 0.4057118528353376,
+                            "y": 0.34729013233892486,
+                            "width": 0.5768716095187004,
+                            "height": 0.5634904837466409
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住锅盖向前移动至锅具正上方",
+            "correction_plan": "爪夹下降，爪夹松开，使锅盖放在锅具上；爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹移动至锅具正上方，确保锅盖放在锅具上。",
+            "frame": 270,
+            "progress": 40,
+            "progress_explanation": "爪夹移动至锅具正上方，因此任务进度提升为40%。",
+            "state_description": "爪夹当前为合拢状态，锅盖在锅具正上方，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹下降并松开，使锅盖放在锅具上。",
+            "time": 8.996671000613793,
+            "annotations": {
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810273593_nbf1wfocq",
+                            "x": 0.5499297552150126,
+                            "y": 0.39236937103865616
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810277857_rwng9mhk6",
+                            "x": 0.4310688466603354,
+                            "y": 0.38673446620118973,
+                            "width": 0.5467601793515156,
+                            "height": 0.5353159595593089
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810280841_oat4p1cgm",
+                            "x": 0.5071398281353289,
+                            "y": 0.36137739443259087,
+                            "width": 0.1030127874140537,
+                            "height": 0.10988064433059502
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810283708_ocickpage",
+                            "x": 0.43740809511658485,
+                            "y": 0.4740754911819191,
+                            "width": 0.08874947838749243,
+                            "height": 0.07888866772452967
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降并松开，随后向上抬升。",
+            "correction_plan": "爪夹向后移动，接近锅具把手，随后下降，爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹松开，锅盖放在了锅具上。",
+            "frame": 339,
+            "progress": 50,
+            "progress_explanation": "爪夹松开，锅盖放在了锅具上，因此任务进度提升为50%。",
+            "state_description": "爪夹当前为张开的状态，在锅盖的上方，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹向后移动，接近锅具把手。",
+            "time": 11.28909231307378,
+            "annotations": {
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810254209_cqvlirl1u",
+                            "x": 0.4992157675650171,
+                            "y": 0.38673446620118973,
+                            "width": 0.10776722375624068,
+                            "height": 0.10706319191186174
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810258051_jrjrb78zi",
+                            "x": 0.43265365877439776,
+                            "y": 0.4825278484381187,
+                            "width": 0.08716466627343004,
+                            "height": 0.07325376288706333
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810262161_28kry9sba",
+                            "x": 0.41997516186189887,
+                            "y": 0.3698297516887905,
+                            "width": 0.570532361062451,
+                            "height": 0.5409508643967753
+                        }
+                    ]
+                },
+                "point_1768810081991": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810081991_1768810266369_1k3d3lkn3",
+                            "x": 0.5134790765915784,
+                            "y": 0.3388377750827253
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810268728_tfjeiwmq3",
+                            "x": 0.5610234400134493,
+                            "y": 0.31066325089539326
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向后移动，随后下降",
+            "correction_plan": "爪夹合拢抓取锅具把手，爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向后移动并下降，接近了锅具把手，方便抓取。",
+            "frame": 401,
+            "progress": 60,
+            "progress_explanation": "爪夹向后移动并下降，接近了锅具把手，因此任务进度提升为60%。",
+            "state_description": "爪夹当前为张开的状态，接近锅具把手，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹合拢抓取锅具把手。",
+            "time": 13.365247463980939,
+            "annotations": {
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810206923_qsa0g20i4",
+                            "x": 0.48019802219626867,
+                            "y": 0.5078849202067175
+                        }
+                    ]
+                },
+                "point_1768810081991": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810081991_1768810222906_w8i2ff897",
+                            "x": 0.4469169678009591,
+                            "y": 0.4740754911819191
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810229930_ttqo1224e",
+                            "x": 0.42789922243221074,
+                            "y": 0.48534530085685196,
+                            "width": 0.08716466627342996,
+                            "height": 0.07607121530579646
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810237586_91ddhretb",
+                            "x": 0.42472959820408596,
+                            "y": 0.3641948468513241,
+                            "width": 0.553099427807765,
+                            "height": 0.5522206740717082
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810241682_t7q7t9fiq",
+                            "x": 0.5039702039072042,
+                            "y": 0.3839170137824566,
+                            "width": 0.10301278741405362,
+                            "height": 0.10424573949312853
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降，随后爪夹合拢抓取锅具把手。",
+            "correction_plan": "爪夹轻微向上抬升，随后向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹成功抓住锅具把手。",
+            "frame": 458,
+            "progress": 70,
+            "progress_explanation": "爪夹成功抓住锅具把手，因此任务进度提升为70%。",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住锅具把手，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹夹住锅具把手轻微向上抬升，随后向右侧移动，接近右侧台面。",
+            "time": 15.268389685645834,
+            "annotations": {
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810188476_tdf4h4ssq",
+                            "x": 0.42789922243221074,
+                            "y": 0.4656231339257195,
+                            "width": 0.08557985415936767,
+                            "height": 0.09861083465566212
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810192315_yylndxh7k",
+                            "x": 0.49604614333689234,
+                            "y": 0.39518682345738937,
+                            "width": 0.11886090855467728,
+                            "height": 0.09861083465566212
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810196235_8j6o1cv50",
+                            "x": 0.41997516186189887,
+                            "y": 0.34729013233892486,
+                            "width": 0.5641931126062014,
+                            "height": 0.5663079361653741
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810199637_5o2gh6dna",
+                            "x": 0.4992157675650171,
+                            "y": 0.5247896347191168
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住锅具把手向上抬升，随后向右侧移动。",
+            "correction_plan": "爪夹向右侧移动接近台面，爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向右侧移动，水平上接近了右侧台面。",
+            "frame": 566,
+            "progress": 75,
+            "progress_explanation": "爪夹向右侧移动，水平上接近了右侧台面，因此任务进度提升为75%。",
+            "state_description": "爪夹当前为合拢状态，爪夹抓住锅具把手，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹继续向右侧移动，接近右侧台面。",
+            "time": 18.8584079674228,
+            "annotations": {
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810165419_wcp913qgw",
+                            "x": 0.4215599739759613,
+                            "y": 0.35855994201385777,
+                            "width": 0.5737019852905757,
+                            "height": 0.5296810547218423
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810169998_zronbs2iu",
+                            "x": 0.49604614333689234,
+                            "y": 0.5078849202067175
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810175611_omfbnn6v2",
+                            "x": 0.5261575735040773,
+                            "y": 0.37546465652625693,
+                            "width": 0.12520015701092674,
+                            "height": 0.10706319191186174
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810181828_fawz4yetc",
+                            "x": 0.41522072551971184,
+                            "y": 0.4628056815069863,
+                            "width": 0.11886090855467728,
+                            "height": 0.07043631046833011
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住锅具把手向右侧移动。",
+            "correction_plan": "爪夹下降，随后爪夹松开，锅具放在右侧台面上。",
+            "error_success_analysis": "爪夹向右侧移动，接近了右侧台面。",
+            "frame": 629,
+            "progress": 80,
+            "progress_explanation": "爪夹向右侧移动，接近右侧台面，因此任务进度提升为80%。",
+            "state_description": "爪夹当前为合拢状态，爪夹抓住锅具把手，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹下降，随后爪夹松开，锅具放在右侧台面上。",
+            "time": 20.977816350640524,
+            "annotations": {
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810149172_m1gpeopbr",
+                            "x": 0.6228311124618815,
+                            "y": 0.5107023726254507
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810152852_vf9myo2dl",
+                            "x": 0.5103094523634536,
+                            "y": 0.4430835145758538,
+                            "width": 0.17749895677498478,
+                            "height": 0.09297592981819579
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810157011_bk51wc3m7",
+                            "x": 0.6735451001118771,
+                            "y": 0.29375853638299404,
+                            "width": 0.2979446774437243,
+                            "height": 0.23384855075485597
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810160467_fua9lm3ut",
+                            "x": 0.40254222860721284,
+                            "y": 0.32475051298905927,
+                            "width": 0.5847956700890122,
+                            "height": 0.5719428410028405
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右侧轻微移动，随后下降。",
+            "correction_plan": "爪夹松开，锅具放在右侧台面上",
+            "error_success_analysis": "爪夹向右侧移动并下降，确保锅具放在右侧台面上。",
+            "frame": 690,
+            "progress": 90,
+            "progress_explanation": "爪夹向右侧移动并下降，贴近台面，因此任务进度提升为90%。",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住锅具把手，为完成将锅盖盖上，然后把锅移到右侧台面的任务，应当：爪夹松开，锅具放在右侧台面上。",
+            "time": 23.010718269237113,
+            "annotations": {
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810129428_fq3j3xlnh",
+                            "x": 0.8367807478603005,
+                            "y": 0.5022500153692511,
+                            "width": 0.15689639929217397,
+                            "height": 0.33245938541051806
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810133877_6yvymltrk",
+                            "x": 0.6260007366900061,
+                            "y": 0.5332419919753164,
+                            "width": 0.21711925962654394,
+                            "height": 0.15777733544905942
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810139924_y473fbi3v",
+                            "x": 0.4342384708884602,
+                            "y": 0.37546465652625693,
+                            "width": 0.5483449914655779,
+                            "height": 0.5381334119780421
+                        }
+                    ]
+                },
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810143652_jjrt6i0v1",
+                            "x": 0.7797275117540555,
+                            "y": 0.6487575411433778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹松开，向上抬升随后向后移动",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开，锅具放在右侧台面上",
+            "frame": 377,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，锅具放在右侧台面上，因此任务进度提升为100%。",
+            "state_description": "爪夹当前为张开的状态，远离了锅具把手，爪夹已完成将锅盖盖上，然后把锅移到右侧台面的任务。",
+            "time": 25.133333333333333,
+            "annotations": {
+                "point_1768810086950": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768810086950_1768810095117_gmzspfu61",
+                            "x": 0.7844819480962426,
+                            "y": 0.4740754911819191
+                        }
+                    ]
+                },
+                "bbox_1768810051830": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810051830_1768810099765_79oxq75s8",
+                            "x": 0.6735451001118771,
+                            "y": 0.5219721823003836,
+                            "width": 0.20285595059998257,
+                            "height": 0.13523771609919383
+                        }
+                    ]
+                },
+                "bbox_1768810077094": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810077094_1768810107517_fntv764ow",
+                            "x": 0.4215599739759613,
+                            "y": 0.38955191861992294,
+                            "width": 0.5689475489483886,
+                            "height": 0.5212286974656428
+                        }
+                    ]
+                },
+                "bbox_1768810046238": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768810046238_1768810119582_51c4rj9o3",
+                            "x": 0.8748162385977972,
+                            "y": 0.4740754911819191,
+                            "width": 0.11886090855467728,
+                            "height": 0.27611033703585397
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768810046238",
+            "name": "锅盖",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768810051830",
+            "name": "锅具把手",
+            "color": "#FF9800"
+        },
+        {
+            "id": "bbox_1768810077094",
+            "name": "台面",
+            "color": "#2196F3"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768810081991",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768810086950",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001743.json

@@ -0,0 +1,386 @@
+{
+    "task_description": "从碗碟架上取下银质刀具，放在台面上\n爪夹开始移动：0\n爪夹接近刀具：25%\n爪夹抓取刀具：50%\n爪夹夹住刀具接近台面：75%\n爪夹松开，刀具落在台面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动",
+            "correction_plan": "爪夹向右前方移动，随后下降并调整角度，接近刀具，爪夹轻微下降，随后合拢抓取刀具；爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。",
+            "error_success_analysis": "",
+            "frame": 11,
+            "progress": 0,
+            "progress_explanation": "爪夹暂未移动，没有接近刀具，因此任务进度为0.",
+            "state_description": "爪夹当前为张开的状态，没有移动，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹向右前方移动，随后下降并调整角度，接近刀具。",
+            "time": 0.7333333333333333,
+            "annotations": {
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791698668_jghxb1n0g",
+                            "x": 0.46118027682752033,
+                            "y": 0.2334180827514872
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791708748_4s6dncug6",
+                            "x": 0.7401072089024964,
+                            "y": 0.41655248996914546,
+                            "width": 0.14897233872186222,
+                            "height": 0.20003912173005753
+                        }
+                    ]
+                },
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791713220_sel2m9cgl",
+                            "x": 0.47227396162595686,
+                            "y": 0.41373503755041224,
+                            "width": 0.3629219741202814,
+                            "height": 0.5015065305345103
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右前方移动",
+            "correction_plan": "爪夹继续向右前方移动，随后下降并调整角度，接近刀具，爪夹轻微下降，随后合拢抓取刀具；爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。",
+            "error_success_analysis": "爪夹向右前方移动，缩短了与道具的距离，方便抓取刀具。",
+            "frame": 89,
+            "progress": 15,
+            "progress_explanation": "爪夹向右前方移动，水平上接近了刀具，因此任务进度提升为15%。",
+            "state_description": "爪夹当前为张开状态，爪夹接近垂直台面，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹继续向右前方移动，随后下降调整角度，接近刀具。",
+            "time": 2.9758217505096916,
+            "annotations": {
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791675325_n4eriaz4v",
+                            "x": 0.6133222397775072,
+                            "y": 0.26441005935755246
+                        }
+                    ]
+                },
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791679444_5g0761fkz",
+                            "x": 0.48336764642439345,
+                            "y": 0.4193699423878786,
+                            "width": 0.34548904086559523,
+                            "height": 0.5015065305345103
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791687580_ge4hslvh0",
+                            "x": 0.7369375846743716,
+                            "y": 0.41655248996914546,
+                            "width": 0.1505571508359246,
+                            "height": 0.20285657414879074
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右前方��动，随后下降。",
+            "correction_plan": "爪夹继续向右前方移动，随后调整角度，接近刀具，爪夹轻微下降，随后合拢抓取刀具；爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。",
+            "error_success_analysis": "爪夹更加接近刀具，方便爪夹抓取刀具。",
+            "frame": 76,
+            "progress": 20,
+            "progress_explanation": "爪夹向右前方移动并下降，更加接近刀具，因此任务进度提升为20%。",
+            "state_description": "爪夹当前为张开状态，接近了刀具，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹继续向右前方移动，随后调整角度，接近刀具。",
+            "time": 5.066666666666666,
+            "annotations": {
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791659773_upaddjhwt",
+                            "x": 0.4865372706525181,
+                            "y": 0.41091758513167903,
+                            "width": 0.33281054395309645,
+                            "height": 0.49023672085957753
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791665940_nyviukpj5",
+                            "x": 0.7353527725603093,
+                            "y": 0.41373503755041224,
+                            "width": 0.15531158717811158,
+                            "height": 0.21694383624245678
+                        }
+                    ]
+                },
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791669373_t4lmpvohs",
+                            "x": 0.7702186390696812,
+                            "y": 0.3517510843382818
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.9488,
+            "frame": 178,
+            "progress": 25,
+            "action_description": "爪夹继续向右前方移动，随后调整角度",
+            "state_description": "爪夹当前为张开状态，接近了刀具，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹轻微移动并下降，随后爪夹合拢抓取刀具。",
+            "progress_explanation": "爪夹向右前方移动，接近了刀具，因此任务进度提升为25%。",
+            "error_success_analysis": "爪夹向右前方移动，接近了刀具，更加方便抓取。",
+            "correction_plan": "爪夹轻微下降，随后合拢抓取刀具；爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。",
+            "annotations": {
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791638134_ovf2dadr7",
+                            "x": 0.8209326267196768,
+                            "y": 0.3968303230380131
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791644557_vg4amv0zz",
+                            "x": 0.7591249542712447,
+                            "y": 0.4052826802942126,
+                            "width": 0.13312421758123866,
+                            "height": 0.21694383624245678
+                        }
+                    ]
+                },
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791654581_qguysd1cz",
+                            "x": 0.48812208276658053,
+                            "y": 0.42500484722534504,
+                            "width": 0.3391497924093459,
+                            "height": 0.4846018160221111
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹轻微向前移动并下降，随后爪夹合拢抓取刀具。",
+            "correction_plan": "爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。",
+            "error_success_analysis": "爪夹调整了角度，方便爪夹成功抓住刀具。",
+            "frame": 131,
+            "progress": 50,
+            "progress_explanation": "爪夹成功抓住刀具，因此任务进度提升为50%。",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住刀具，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹夹住刀具向上抬升，随后向后方移动，接近台面。",
+            "time": 8.733333333333333,
+            "annotations": {
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791598302_i4ujh8it4",
+                            "x": 0.4865372706525181,
+                            "y": 0.41373503755041224,
+                            "width": 0.32171685915465986,
+                            "height": 0.4874192684408443
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791605782_4p56smba1",
+                            "x": 0.7781426996399932,
+                            "y": 0.41373503755041224,
+                            "width": 0.11410647221249022,
+                            "height": 0.15214243061159308
+                        }
+                    ]
+                },
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791633149_iokdj4ndx",
+                            "x": 0.8764010507118597,
+                            "y": 0.46163172866887675
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 9.596450001996677,
+            "frame": 288,
+            "progress": 60,
+            "action_description": "爪夹夹住刀具向上抬升",
+            "state_description": "爪夹当前为合拢状态，爪夹夹住刀具，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹继续抬升，随后爪夹松开，刀具落在台面上。",
+            "progress_explanation": "爪夹向上抬升，没有完全脱离碗碟架，因此任务进度提升为60%。",
+            "error_success_analysis": "爪夹向上抬升，方便接近台面。",
+            "correction_plan": "爪夹继续抬升，随后爪夹松开，刀具落在台面上",
+            "annotations": {
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791554327_7a38ovcvf",
+                            "x": 0.8589681174571737,
+                            "y": 0.382743060944347
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791579784_34mcminr0",
+                            "x": 0.75595533004312,
+                            "y": 0.3207591077322165,
+                            "width": 0.13312421758123855,
+                            "height": 0.23103109833612273
+                        }
+                    ]
+                },
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791585102_dyn46j7je",
+                            "x": 0.48019802219626867,
+                            "y": 0.4221873948066118,
+                            "width": 0.3708460346905932,
+                            "height": 0.49305417327831075
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹住刀具向上抬升",
+            "correction_plan": "爪夹向后方移动接近台面，爪夹松开，刀具落在台面上。",
+            "error_success_analysis": "爪夹夹住刀具抬升，方便接近台面。",
+            "frame": 306,
+            "progress": 75,
+            "progress_explanation": "爪夹夹住刀具抬升，脱离了碗碟架，因此任务进度提升为75%。",
+            "state_description": "爪夹当前为合拢状态，刀具脱离碗碟架，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹向后方移动，爪夹松开，刀具落在桌面上。",
+            "time": 10.196228171120936,
+            "annotations": {
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791529360_qi5sd8vpz",
+                            "x": 0.4849524585384558,
+                            "y": 0.41655248996914546,
+                            "width": 0.3740156589187179,
+                            "height": 0.4986890781157772
+                        }
+                    ]
+                },
+                "bbox_1768791479336": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791479336_1768791537407_zktmka4ge",
+                            "x": 0.7353527725603093,
+                            "y": 0.22496572549528757,
+                            "width": 0.1172760964406149,
+                            "height": 0.2958325039669864
+                        }
+                    ]
+                },
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791548519_4jvy8ghta",
+                            "x": 0.8272718751759264,
+                            "y": 0.3066718456385505
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向后方移动，随后爪夹松开。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹已松开，任务完成。",
+            "frame": 165,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，刀具落在桌面上，因此任务进度提升为100%。",
+            "state_description": "爪夹当前为张开的状态，爪夹已完成从碗碟架上取下银质刀具，放在台面上的任务。",
+            "time": 11,
+            "annotations": {
+                "point_1768791497890": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768791497890_1768791511016_gzynkslgq",
+                            "x": 0.7718034511837437,
+                            "y": 0.2559577021013528
+                        }
+                    ]
+                },
+                "bbox_1768791488226": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768791488226_1768791520303_zkrw1ugak",
+                            "x": 0.4865372706525181,
+                            "y": 0.4081001327129458,
+                            "width": 0.28685099264528785,
+                            "height": 0.5071414353719768
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768791479336",
+            "name": "刀具",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768791488226",
+            "name": "台面",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768791492953",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768791497890",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002211.json

@@ -0,0 +1,364 @@
+{
+    "task_description": "抓取杯子放入洗碗池里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近洗碗池：60%\n爪夹将杯子放在洗碗池里：80%\n爪夹松开过杯子放进洗碗池里：100%",
+    "progress_points": [
+        {
+            "action_description": "抓夹保持打开状态,开始移动",
+            "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的右方移动,到达杯子正上方后下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池,松开爪夹。",
+            "error_success_analysis": "",
+            "frame": 32,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态,开始移动,进度为0%",
+            "state_description": "当前状态为爪夹打开,开始移动,没有触碰杯子\n为完成抓起杯子便其放在洗碗池的任务应当:调整爪来角度,使其垂直于桌面,然后向爪夹方向的前方移动,准备抓取杯子。",
+            "time": 1.082933,
+            "annotations": {
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066781323_gb7ye0esd",
+                            "x": 0.524,
+                            "y": 0.5671111111111111,
+                            "width": 0.07000000000000002,
+                            "height": 0.11555555555555554
+                        }
+                    ]
+                },
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066785253_rz6c9wd3y",
+                            "x": 0.404,
+                            "y": 0.5955555555555556,
+                            "width": 0.23500000000000004,
+                            "height": 0.24177777777777776
+                        }
+                    ]
+                },
+                "point_1767066768523": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768523_1767066804139_b66dvb87e",
+                            "x": 0.556,
+                            "y": 0.5072592502170139
+                        }
+                    ]
+                },
+                "point_1767066768835": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768835_1767066808615_1nez5grob",
+                            "x": 0.568,
+                            "y": 0.5072592502170139
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹保持打开状态，向右方开始移动。",
+            "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的右方移动,到达杯子正上方后下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池,松开爪夹。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了杯子。",
+            "frame": 69,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近杯子并开始调整爪\n夹角度方便抓取,因此进度提升为10%。",
+            "state_description": "为完成抓起杯子放在洗碗池里的任务应当，继续调整爪夹方向直到垂直桌面，继续向爪夹的前方移动直至杯子正上方。",
+            "time": 2.298133,
+            "annotations": {
+                "point_1767066768835": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768835_1767066816205_pj4j3mot9",
+                            "x": 0.572,
+                            "y": 0.49659258355034724
+                        }
+                    ]
+                },
+                "point_1767066768523": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768523_1767066820083_tiqtbxx3r",
+                            "x": 0.5509999999999999,
+                            "y": 0.4930370279947917
+                        }
+                    ]
+                },
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066824837_o324d6z0d",
+                            "x": 0.534,
+                            "y": 0.5677036946614583,
+                            "width": 0.05600000000000005,
+                            "height": 0.10844444444444443
+                        }
+                    ]
+                },
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066829055_u9zz0o8r4",
+                            "x": 0.41500000000000004,
+                            "y": 0.6050370279947916,
+                            "width": 0.21099999999999994,
+                            "height": 0.19199999999999992
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右方移动并下降。",
+            "correction_plan": "下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池里,松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的右方移动至杯子正上方,已调整爪夹角度为垂直,方便抓取杯子。",
+            "frame": 119,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于杯子正上方,已接近杯子,因此\n进度提升为20%",
+            "state_description": "当前爪夹打开,垂直于桌面,处于杯子的正上方。为完成抓起杯子放进洗碗池的任务应当；继续向下移动，抓取杯子。",
+            "time": 3.968,
+            "annotations": {
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066834639_r9zd51b5c",
+                            "x": 0.392,
+                            "y": 0.5979259168836806,
+                            "width": 0.246,
+                            "height": 0.2222222222222223
+                        }
+                    ]
+                },
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066837779_80jpewmuc",
+                            "x": 0.522,
+                            "y": 0.5570370279947917,
+                            "width": 0.07400000000000002,
+                            "height": 0.11733333333333336
+                        }
+                    ]
+                },
+                "point_1767066768523": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768523_1767066845907_yepth8h4q",
+                            "x": 0.5389999999999999,
+                            "y": 0.5979259168836806
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微向下后合拢，抓取到杯子。",
+            "correction_plan": "竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池上方。下降将杯子放进洗碗池里,松开爪夹。",
+            "error_success_analysis": "爪夹在杯子尾部竖直下降，成功抓取到杯子。",
+            "frame": 143,
+            "progress": 40,
+            "progress_explanation": "当前爪夹抓取到杯子，因此进度提升为40%",
+            "state_description": "当前爪夹闭合，垂直于桌面，杯子已被爪夹抓取到。\n为完成抓起杯子放进洗碗池里的任务应当；竖直上升，然后向爪夹的左方移动。",
+            "time": 4.778133,
+            "annotations": {
+                "point_1767066768523": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768523_1767066859027_nz085s5vq",
+                            "x": 0.5549999999999999,
+                            "y": 0.5925925835503473
+                        }
+                    ]
+                },
+                "point_1767066768835": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767066768835_1767066863499_f8ldxnt34",
+                            "x": 0.564,
+                            "y": 0.5908148057725694
+                        }
+                    ]
+                },
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066868205_pwe0zyl1p",
+                            "x": 0.396,
+                            "y": 0.5979259168836806,
+                            "width": 0.24400000000000005,
+                            "height": 0.19199999999999992
+                        }
+                    ]
+                },
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066871745_yru5o9tdw",
+                            "x": 0.531,
+                            "y": 0.5605925835503472,
+                            "width": 0.05499999999999998,
+                            "height": 0.11733333333333336
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹左方移动",
+            "correction_plan": "继续向爪夹下方的洗碗池接近，水平到达洗碗池的正上方后将杯子放入洗碗池，松开爪夹，使杯子放入洗碗池。\n",
+            "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了洗碗池。更加方便接近洗碗池。",
+            "frame": 179,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，并向爪夹下边的洗碗池接近。缩短了与洗碗池的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了洗碗池。\n为完成抓取杯子放入洗碗池的任务应当：继续向爪夹左方接近，水平到达洗碗池的正上方后将杯子放入洗碗池，松开爪夹，使杯子放入洗碗池。",
+            "time": 5.968533,
+            "annotations": {
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066876467_o7j2img1p",
+                            "x": 0.532,
+                            "y": 0.5677036946614583,
+                            "width": 0.06299999999999999,
+                            "height": 0.11555555555555554
+                        }
+                    ]
+                },
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066880229_y6g745ab2",
+                            "x": 0.39,
+                            "y": 0.5979259168836806,
+                            "width": 0.252,
+                            "height": 0.19911111111111104
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹下方移动。",
+            "correction_plan": "下降将杯子放进洗碗池里,松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动,成功使杯子平移至洗碗池正上方。",
+            "frame": 200,
+            "progress": 60,
+            "progress_explanation": "当前杯子已处于洗碗池的正上方,成功接近洗碗池,因此进度提升为60%",
+            "state_description": "当前爪夹合找,垂直于洗碗池,杯子悬空于洗碗池的正上方。为完成抓起杯子使其放在洗碗池里的任务应当:竖直下降,将杯子放进洗碗池里。",
+            "time": 6.654666,
+            "annotations": {
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066897463_q83d6qy60",
+                            "x": 0.398,
+                            "y": 0.5997036946614583,
+                            "width": 0.236,
+                            "height": 0.20444444444444435
+                        }
+                    ]
+                },
+                "bbox_1767066758631": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066758631_1767066901289_615oax26v",
+                            "x": 0.502,
+                            "y": 0.6192592502170139,
+                            "width": 0.09299999999999997,
+                            "height": 0.14222222222222228
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "correction_plan": "松开爪夹，使杯子放入洗碗池。",
+            "error_success_analysis": "杯子放入洗碗池，方便杯子放入洗碗池。",
+            "frame": 221,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，杯子放进洗碗池。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面。\n为完成抓取杯子放入洗碗池的任务应当：向下移动，松开爪夹，使杯子放入洗碗池。",
+            "time": 7.3656,
+            "annotations": {
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066906779_3u7lc3is0",
+                            "x": 0.403,
+                            "y": 0.5979259168836806,
+                            "width": 0.23499999999999996,
+                            "height": 0.19377777777777783
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，杯子放进洗碗池。",
+            "frame": 248,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，杯子放入洗碗池，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子放进洗碗池的任务目标完成。",
+            "time": 8.266667,
+            "annotations": {
+                "bbox_1767066759569": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767066759569_1767066912957_4uawsrsb5",
+                            "x": 0.396,
+                            "y": 0.5890370279947917,
+                            "width": 0.242,
+                            "height": 0.21511111111111103
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767066758631",
+            "name": "杯子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767066759569",
+            "name": "洗碗池",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767066768523",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767066768835",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002621.json

@@ -0,0 +1,448 @@
+{
+    "task_description": "抓取马克笔放在桌面上：\n准备开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓紧马克笔接近桌面：60%\n爪夹将马克笔放在桌面上：80%\n爪夹松开马克笔落在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.0782222222222222,
+                            "id": "bbox_1767497280945_1767499871551_vc0d397bd",
+                            "width": 0.04299999999999997,
+                            "x": 0.44000000000000006,
+                            "y": 0.5706666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.4675555555555556,
+                            "id": "bbox_1767497288529_1767499876511_rxajmxskj",
+                            "width": 0.34800000000000003,
+                            "x": 0.31499999999999995,
+                            "y": 0.5137777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767499902863_3nj29f9wv",
+                            "x": 0.6609999999999999,
+                            "y": 0.496
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 22,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离马克笔，未开始移动。\n为完成抓取马克笔落在桌面上的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。",
+            "time": 0.740893487628866
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.10488888888888895,
+                            "id": "bbox_1767497280945_1767499923679_jvlbgrg1t",
+                            "width": 0.046,
+                            "x": 0.438,
+                            "y": 0.5564444444444444
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.48711111111111116,
+                            "id": "bbox_1767497288529_1767499928311_1s0vpdvee",
+                            "width": 0.3530000000000001,
+                            "x": 0.311,
+                            "y": 0.5084444444444445
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767499944615_woalpeirn",
+                            "x": 0.507,
+                            "y": 0.3928888888888889
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，水平上未接近马克笔。",
+            "frame": 65,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，方便抓取��因此进度提升为5%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹继续向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。",
+            "time": 2.170666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并调整角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.11022222222222224,
+                            "id": "bbox_1767497280945_1767499968207_sle13fjl7",
+                            "width": 0.039000000000000055,
+                            "x": 0.44299999999999995,
+                            "y": 0.5546666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.47111111111111115,
+                            "id": "bbox_1767497288529_1767499972431_w5sn6qyii",
+                            "width": 0.359,
+                            "x": 0.308,
+                            "y": 0.5102222222222222
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767499963767_5x00wsg2f",
+                            "x": 0.487,
+                            "y": 0.5191111111111111
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。\n",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了马克笔的距离，方便后续抓取马克笔。",
+            "frame": 119,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了马克笔，更加方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。\n",
+            "time": 3.96
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.09955555555555556,
+                            "id": "bbox_1767497280945_1767499992190_6xjs0a7fb",
+                            "width": 0.039999999999999945,
+                            "x": 0.44000000000000006,
+                            "y": 0.5493333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.48711111111111116,
+                            "id": "bbox_1767497288529_1767499996495_5vuc1wz38",
+                            "width": 0.36,
+                            "x": 0.306,
+                            "y": 0.4942222222222223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767499984358_zr4nzx8qu",
+                            "x": 0.43899999999999995,
+                            "y": 0.6186666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767497324009": {
+                    "instances": [
+                        {
+                            "id": "point_1767497324009_1767499987246_vz5lgzk2s",
+                            "x": 0.47800000000000004,
+                            "y": 0.5777777777777777
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。\n",
+            "error_success_analysis": "爪夹垂直向下移动，处于马克笔的正上方，方便抓取。",
+            "frame": 176,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于马克笔的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于马克笔的正上方，准备抓取马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方",
+            "time": 5.881333
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.10311111111111113,
+                            "id": "bbox_1767497280945_1767500032775_u9if8a2dk",
+                            "width": 0.03600000000000003,
+                            "x": 0.44699999999999995,
+                            "y": 0.5582222222222223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.4942222222222223,
+                            "id": "bbox_1767497288529_1767500037879_sifik217v",
+                            "width": 0.36299999999999993,
+                            "x": 0.30500000000000005,
+                            "y": 0.5013333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767500008078_ht1hiahpx",
+                            "x": 0.45200000000000007,
+                            "y": 0.6222222222222222
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767497324009": {
+                    "instances": [
+                        {
+                            "id": "point_1767497324009_1767500011502_wbu4cp2nc",
+                            "x": 0.46399999999999997,
+                            "y": 0.6044444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧马克笔垂直升高爪夹并向爪夹方向右侧的桌面移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。\n",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到马克笔。",
+            "frame": 213,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到马克笔，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到马克笔，爪夹角度与桌面接近垂直。\n为完成抓取马克笔落在桌面上的任务应当：抓紧马克笔垂直升高爪夹并向爪夹方向右侧的桌面接近。",
+            "time": 7.098666
+        },
+        {
+            "action_description": "爪夹夹紧马克笔垂直升高，离开杯子。",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.11911111111111118,
+                            "id": "bbox_1767497280945_1767500075431_59mctszeb",
+                            "width": 0.040000000000000036,
+                            "x": 0.47000000000000003,
+                            "y": 0.45688888888888884
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.46222222222222226,
+                            "id": "bbox_1767497288529_1767500081607_o1vb78k7v",
+                            "width": 0.356,
+                            "x": 0.315,
+                            "y": 0.5155555555555555
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767500065126_9g3a70t97",
+                            "x": 0.48,
+                            "y": 0.4942222222222223
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767497324009": {
+                    "instances": [
+                        {
+                            "id": "point_1767497324009_1767500069487_4svjmrile",
+                            "x": 0.503,
+                            "y": 0.5084444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。\n",
+            "error_success_analysis": "爪夹合拢夹紧马克笔，水平上接近了桌面。更加方便接近桌面",
+            "frame": 279,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧马克笔，垂直升高并向爪夹右侧的桌面接近，缩短了与桌面的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧马克笔，水平上接近了桌面。\n为完成抓取马克笔落在桌面上的任务应当：继续向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上。",
+            "time": 9.298666
+        },
+        {
+            "action_description": "爪夹夹紧马克笔，向爪夹方向的右侧移动",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.14044444444444446,
+                            "id": "bbox_1767497280945_1767500093310_asutdhnmx",
+                            "width": 0.04700000000000006,
+                            "x": 0.5549999999999999,
+                            "y": 0.4711111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.47111111111111115,
+                            "id": "bbox_1767497288529_1767500098022_lshg9jwc0",
+                            "width": 0.358,
+                            "x": 0.304,
+                            "y": 0.49066666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767500086207_fsk0h0wwh",
+                            "x": 0.571,
+                            "y": 0.528
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767497324009": {
+                    "instances": [
+                        {
+                            "id": "point_1767497324009_1767500089230_vr0y1fg6i",
+                            "x": 0.583,
+                            "y": 0.5333333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上。",
+            "frame": 356,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧马克笔，到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上 。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧马克笔，爪夹角度接近垂直于桌面，位于桌面的正上方。\n为完成抓取马克笔落在桌面上的任务应当：将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "time": 11.865333
+        },
+        {
+            "action_description": "爪夹垂直向下移动，张开爪夹",
+            "annotations": {
+                "bbox_1767497280945": {
+                    "instances": [
+                        {
+                            "height": 0.13511111111111115,
+                            "id": "bbox_1767497280945_1767500116479_ax35v1js3",
+                            "width": 0.05,
+                            "x": 0.53,
+                            "y": 0.5635555555555556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767497288529": {
+                    "instances": [
+                        {
+                            "height": 0.5013333333333333,
+                            "id": "bbox_1767497288529_1767500121151_3kk5foa15",
+                            "width": 0.364,
+                            "x": 0.30300000000000005,
+                            "y": 0.4906666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767497311089": {
+                    "instances": [
+                        {
+                            "id": "point_1767497311089_1767500108678_tly362d8x",
+                            "x": 0.5469999999999999,
+                            "y": 0.544
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767497324009": {
+                    "instances": [
+                        {
+                            "id": "point_1767497324009_1767500112158_r3fx4zikx",
+                            "x": 0.571,
+                            "y": 0.5404444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，马克笔落在桌面上。",
+            "frame": 412,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，马克笔落在桌面上，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开马克笔落在桌面上的任务目标完成。",
+            "time": 13.728
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767497280945",
+            "name": "马克笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767497288529",
+            "name": "桌面"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767497311089",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767497324009",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002760.json

@@ -0,0 +1,590 @@
+{
+    "task_description": "抓取马克笔放在桌面上：\n准备开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓紧马克笔接近桌面：60%\n爪夹将马克笔放在桌面上：80%\n爪夹松开马克笔落在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 45,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离马克笔，未开始移动。\n为完成抓取马克笔落在桌面上的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。",
+            "time": 1.492466,
+            "annotations": {
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508403086_049ni5wa7",
+                            "x": 0.546,
+                            "y": 0.6542222222222223,
+                            "width": 0.053000000000000026,
+                            "height": 0.1564444444444445
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508415494_fzvqv4b3m",
+                            "x": 0.24500000000000002,
+                            "y": 0.14933333333333337,
+                            "width": 0.751,
+                            "height": 0.8284444444444444
+                        }
+                    ]
+                },
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508432598_pxne3lbg8",
+                            "x": 0.203,
+                            "y": 0.03911111111111111
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动下降，调整爪夹角度。",
+            "correction_plan": "爪夹继续向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，水平上未接近马克笔。",
+            "frame": 94,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的正前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹继续向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。",
+            "time": 3.131733,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508438246_ewgrw5300",
+                            "x": 0.382,
+                            "y": 0.24533333333333335
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508442974_y07vat734",
+                            "x": 0.5549999999999999,
+                            "y": 0.6542222222222223,
+                            "width": 0.03700000000000001,
+                            "height": 0.15288888888888888
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508448806_5l6deyxn2",
+                            "x": 0.246,
+                            "y": 0.16177777777777777,
+                            "width": 0.748,
+                            "height": 0.8142222222222222
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动并调整角度垂直于桌面。",
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了马克笔的距离，方便后续抓取马克笔。",
+            "frame": 187,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了马克笔，更加方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。",
+            "time": 6.230171906185567,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508505510_grcn27nb5",
+                            "x": 0.538,
+                            "y": 0.5973333333333333
+                        }
+                    ]
+                },
+                "point_1767504267274": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504267274_1767508509006_wcmkplo40",
+                            "x": 0.5740000000000001,
+                            "y": 0.5013333333333333
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508513838_x761wq3v3",
+                            "x": 0.5479999999999999,
+                            "y": 0.6488888888888888,
+                            "width": 0.04400000000000004,
+                            "height": 0.16177777777777788
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508528190_q7gkmc65z",
+                            "x": 0.246,
+                            "y": 0.1848888888888889,
+                            "width": 0.7479999999999999,
+                            "height": 0.7893333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "correction_plan": "爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，处于马克笔的正上方，方便抓取。",
+            "frame": 263,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于马克笔的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于马克笔的正上方，准备抓取马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方",
+            "time": 8.752508710309279,
+            "annotations": {
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508559678_3pbpl7jaw",
+                            "x": 0.546,
+                            "y": 0.6791111111111111,
+                            "width": 0.040000000000000036,
+                            "height": 0.1528888888888888
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508568094_ql3jfo2to",
+                            "x": 0.24,
+                            "y": 0.14755555555555558,
+                            "width": 0.7550000000000001,
+                            "height": 0.8355555555555556
+                        }
+                    ]
+                },
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508624734_1kfo7ptiu",
+                            "x": 0.552,
+                            "y": 0.7217777777777779
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧马克笔垂直升高向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。\n",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到马克笔。",
+            "frame": 335,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到马克笔，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到马克笔，爪夹角度与桌面接近垂直。\n为完成抓取马克笔落在桌面上的任务应当：抓紧马克笔垂直升高爪夹并向爪夹方向右侧的桌面接近。",
+            "time": 11.1568,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508656030_pqllw5y2z",
+                            "x": 0.571,
+                            "y": 0.727111111111111
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508660286_3ygtdfqay",
+                            "x": 0.532,
+                            "y": 0.6613333333333333,
+                            "width": 0.05599999999999996,
+                            "height": 0.1813333333333334
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508667653_big1033nu",
+                            "x": 0.248,
+                            "y": 0.17244444444444446,
+                            "width": 0.748,
+                            "height": 0.8017777777777779
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升一瞬间，马克笔和杯子掉落",
+            "correction_plan": "重新夹取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹在夹取马克笔的同时夹到了杯子，没有加紧马克笔导致在上升的瞬间，马克笔掉落桌面。",
+            "frame": 381,
+            "progress": 20,
+            "progress_explanation": "在爪夹上升的瞬间，马克笔掉落桌面，因此进度降至为20%。",
+            "state_description": "爪夹打开，马克笔和杯子掉落桌面。\n为完成抓取马克笔落在桌面上的任务应当：重新夹取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，",
+            "time": 12.6982,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508678958_j2fojgke8",
+                            "x": 0.612,
+                            "y": 0.6702222222222223
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508695822_biekuq236",
+                            "x": 0.23499999999999996,
+                            "y": 0.13866666666666666,
+                            "width": 0.756,
+                            "height": 0.8373333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹打开夹取马克笔。",
+            "correction_plan": "调整爪夹位置，移动至马克笔的正上方，爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马��笔落在桌面上。",
+            "error_success_analysis": "爪夹在夹取马克笔的时候滑脱导致没有夹住马克笔。",
+            "frame": 450,
+            "progress": 10,
+            "progress_explanation": "爪夹在夹取马克笔的时候滑脱，偏离马克笔的正上方，因此进度降至为10%",
+            "state_description": "爪夹打开，没有在马克笔的正上方。\n为完成抓取马克笔落在桌面上的任务应当：调整爪夹位置，移动至马克笔的正上方，爪夹合拢抓取马克笔，抓紧马克笔垂直升高",
+            "time": 15.007903984536084,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508714334_kw8ltkker",
+                            "x": 0.6060000000000001,
+                            "y": 0.704
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508719966_ozt6yxu69",
+                            "x": 0.5900000000000001,
+                            "y": 0.6257777777777778,
+                            "width": 0.092,
+                            "height": 0.10666666666666669
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508725070_aomtptbs2",
+                            "x": 0.248,
+                            "y": 0.13688888888888887,
+                            "width": 0.744,
+                            "height": 0.8444444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹的正前方微调。",
+            "correction_plan": "爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，处于马克笔的正上方，方便抓取。",
+            "frame": 533,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于马克笔的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于马克笔的正上方，准备抓取马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方",
+            "time": 17.7628,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508757662_1nzgvcoeh",
+                            "x": 0.6759999999999999,
+                            "y": 0.7484444444444445
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508762462_5mcyh5f27",
+                            "x": 0.5860000000000001,
+                            "y": 0.615111111111111,
+                            "width": 0.10800000000000001,
+                            "height": 0.10311111111111113
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508770806_699yhrlda",
+                            "x": 0.24300000000000002,
+                            "y": 0.12444444444444445,
+                            "width": 0.751,
+                            "height": 0.8657777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧马克笔垂直升高向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到马克笔。",
+            "frame": 610,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到马克笔，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到马克笔，爪夹角度与桌面接近垂直。\n为完成抓取马克笔落在桌面上的任务应当：抓紧马克笔垂直升高爪夹并向爪夹方向右侧的桌面接近。",
+            "time": 20.3318,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508791398_zzxce4i4p",
+                            "x": 0.671,
+                            "y": 0.7128888888888889
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508797622_v4cw5bpv7",
+                            "x": 0.6020000000000001,
+                            "y": 0.6275555555555556,
+                            "width": 0.08399999999999999,
+                            "height": 0.11199999999999997
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508803358_xma49gnsr",
+                            "x": 0.24400000000000005,
+                            "y": 0.1386666666666667,
+                            "width": 0.7499999999999999,
+                            "height": 0.8426666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧马克笔垂直升高，离开杯子。",
+            "correction_plan": "继续向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "爪夹合拢夹紧马克笔，水平上接近了桌面。更加方便接近桌面",
+            "frame": 651,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧马克笔，垂直升高并向爪夹右侧的桌面接近，缩短了与桌面的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧马克笔，水平上接近了桌面。\n为完成抓取马克笔落在桌面上的任务应当：继续向爪夹右侧的桌面接近，直至桌面的正上方后将马克笔放在桌面上。",
+            "time": 21.701933,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508814037_ggb9gfby2",
+                            "x": 0.764,
+                            "y": 0.5617777777777778
+                        }
+                    ]
+                },
+                "point_1767504267274": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504267274_1767508818566_6jfyhts11",
+                            "x": 0.766,
+                            "y": 0.5617777777777778
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508826982_wgcir6j6p",
+                            "x": 0.6449999999999999,
+                            "y": 0.5066666666666667,
+                            "width": 0.11500000000000013,
+                            "height": 0.08711111111111107
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508840150_bn0aea2vh",
+                            "x": 0.24900000000000003,
+                            "y": 0.1688888888888889,
+                            "width": 0.743,
+                            "height": 0.816
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧马克笔，向爪夹方向的右侧移动",
+            "correction_plan": "将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "error_success_analysis": "到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上。",
+            "frame": 688,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧马克笔，到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上 。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧马克笔，爪夹角度接近垂直于桌面，位于桌面的正上方。\n为��成抓取马克笔落在桌面上的任务应当：将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。",
+            "time": 22.949733,
+            "annotations": {
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508855861_pnhsweggn",
+                            "x": 0.683,
+                            "y": 0.7573333333333333,
+                            "width": 0.13200000000000003,
+                            "height": 0.13333333333333333
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508861094_eu61io3bu",
+                            "x": 0.248,
+                            "y": 0.15466666666666667,
+                            "width": 0.7470000000000001,
+                            "height": 0.8266666666666668
+                        }
+                    ]
+                },
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508891981_9g48a5c31",
+                            "x": 0.787,
+                            "y": 0.8835555555555555
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹垂直向下移动，张开爪夹",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，马克笔落在桌面上",
+            "frame": 734,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，马克笔落在桌面上，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开马克笔落在桌面上的任务目标完成。",
+            "time": 24.466667,
+            "annotations": {
+                "point_1767504301450": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767504301450_1767508896598_k25qj1kxv",
+                            "x": 0.722,
+                            "y": 0.896
+                        }
+                    ]
+                },
+                "bbox_1767504254123": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504254123_1767508902142_xxi9rckrs",
+                            "x": 0.62,
+                            "y": 0.7928888888888889,
+                            "width": 0.14000000000000004,
+                            "height": 0.19555555555555565
+                        }
+                    ]
+                },
+                "bbox_1767504261082": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767504261082_1767508909926_23z5qu4c1",
+                            "x": 0.24300000000000002,
+                            "y": 0.14755555555555558,
+                            "width": 0.749,
+                            "height": 0.840888888888889
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767504254123",
+            "name": "马克笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767504261082",
+            "name": "桌面"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767504267274",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767504301450",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002115.json

@@ -0,0 +1,409 @@
+{
+    "task_description": "打开盒子。\n爪夹开始移动：0%\n爪夹靠近盒子：30%\n爪夹移动盒子：50%\n爪夹打开盒子：70%\n爪夹上升远离盒子：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，暂未移动。",
+            "correction_plan": "调整爪夹角度向爪夹方向的右后侧移动至盒子上方，然后下降靠近盒子，然后向前移动使爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "error_success_analysis": "",
+            "frame": 22,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，远离盒子，准备开始移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，准备开始移动，没有接触盒子。\n为完成打开盒子的任务应当:调整爪夹角度向爪夹方向的右后侧移动至盒子上方，然后下降靠近盒子准备打开。",
+            "time": 0.7310267226986145,
+            "annotations": {
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789029806_endv7byho",
+                            "x": 0.46011105590142476,
+                            "y": 0.6256542968750001
+                        }
+                    ]
+                },
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789033054_slen9ivpg",
+                            "x": 0.7741110367363868,
+                            "y": 0.6434320746527779
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向右后侧移动。",
+            "correction_plan": "爪夹下降靠近盒子，然后向前移动使爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "error_success_analysis": "爪夹成功向爪夹方向右后侧移动至盒子上方，方便爪夹下降靠近盒子。",
+            "frame": 29,
+            "progress": 10,
+            "progress_explanation": "目前爪夹处于张开状态，爪夹向爪夹方向右后侧移动至盒子上方，进度提升为10%。",
+            "state_description": "当前状态为爪夹打开，爪夹移动至盒子上方。\n为完成打开盒子的任务应当:下降靠近盒子，用爪夹贴着纸盒盖子向爪夹方向右侧移动打开。",
+            "time": 1.9333333333333333,
+            "annotations": {
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789038141_7c0hu1q37",
+                            "x": 0.7721110368584572,
+                            "y": 0.6412592502170139
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789040781_iuuqe7df4",
+                            "x": 0.46411105565728417,
+                            "y": 0.6288148057725694
+                        }
+                    ]
+                },
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789047165_7lx4wf3ei",
+                            "x": 0.009111083428278599,
+                            "y": 0.020814805772569445,
+                            "width": 0.3619999779052748,
+                            "height": 0.6684444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 3.281,
+            "frame": 98,
+            "progress": 20,
+            "action_description": "爪夹下降。",
+            "state_description": "当前状态为爪夹打开，爪夹下降靠近盒子。\n为完成打开盒子的任务应当:爪夹持续下降贴着纸盒盖子向爪夹方向右侧移动打开。",
+            "progress_explanation": "目前爪夹处于张开状态，爪夹下降靠近盒子，与上一阶段相比，方便爪夹进一步贴近盒子，方便爪夹将其打开，进度提升为20%。",
+            "error_success_analysis": "爪夹处于张开状态，爪夹下降靠近盒子，与上一阶段相比，方便爪夹进一步贴近盒子，方便爪夹将其打开。",
+            "correction_plan": "爪夹持续下降，然后向前移动贴着盒子使爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "annotations": {
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789063157_s21owofa6",
+                            "x": 0.1421110753106033,
+                            "y": 0.18832097710503473,
+                            "width": 0.4859999703369158,
+                            "height": 0.7626666666666667
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789075412_4f6l2h88v",
+                            "x": 0.46311105571831934,
+                            "y": 0.6181481391059028
+                        }
+                    ]
+                },
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789078116_oaf6uwb2x",
+                            "x": 0.7701110369805274,
+                            "y": 0.648370361328125
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹持续下降。",
+            "correction_plan": "爪夹向前移动贴着盒子，爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "error_success_analysis": "爪夹处于张开状态，爪夹靠近盒子，与上一阶段相比，爪夹更贴近盒子，方便爪夹将其打开。",
+            "frame": 74,
+            "progress": 30,
+            "progress_explanation": "目前爪夹处于张开状态，爪夹靠近盒子，与上一阶段相比，爪夹更贴近盒子，方便爪夹将其打开，进度提升为30%。",
+            "state_description": "当前状态为爪夹打开，靠近盒子。\n为完成打开盒子的任务应当:爪夹向前移动贴着纸盒盖子，方便爪夹向爪夹方向右侧移动。",
+            "time": 4.933333333333334,
+            "annotations": {
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789081756_ut07jp6re",
+                            "x": 0.7711110369194923,
+                            "y": 0.648370361328125
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789085005_pc8bzjqmf",
+                            "x": 0.46311105571831934,
+                            "y": 0.6270370279947917
+                        }
+                    ]
+                },
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789090757_bbhq3c306",
+                            "x": 0.45811105602349506,
+                            "y": 0.13103702799479167,
+                            "width": 0.34099997918701297,
+                            "height": 0.72
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.638930321095868,
+            "frame": 169,
+            "progress": 40,
+            "action_description": "爪夹向前移动贴着盒子。",
+            "state_description": "当前状态为爪夹打开，靠近盒子。\n为完成打开盒子的任务应当:爪夹左贴着纸盒盖子向爪夹方向右侧移动。",
+            "progress_explanation": "目前爪夹处于张开状态，爪夹靠近盒子，与上一阶段相比，爪夹贴着盒子，方便爪夹向爪夹方向右侧移动，进度提升为40%。",
+            "error_success_analysis": "爪夹处于张开状态，爪夹靠近盒子，与上一阶段相比，爪夹贴着盒子，方便爪夹向爪夹方向右侧移动。",
+            "correction_plan": "爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "annotations": {
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789102620_ofuhjyrdv",
+                            "x": 0.4511110564507412,
+                            "y": 0.0780987548828125,
+                            "width": 0.372999977233888,
+                            "height": 0.7875555555555555
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789112564_rff8ldejk",
+                            "x": 0.46011105590142476,
+                            "y": 0.6252592502170139
+                        }
+                    ]
+                },
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789114980_95heni0lf",
+                            "x": 0.7711110369194923,
+                            "y": 0.6448148057725694
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向右侧移动。",
+            "correction_plan": "爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，用爪夹将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "error_success_analysis": "爪夹处于张开状态，爪夹左贴着盒子向爪夹方向右侧移动，方便爪夹将盒子打开。",
+            "frame": 109,
+            "progress": 50,
+            "progress_explanation": "目前爪夹处于张开状态，爪夹左贴着盒子向爪夹方向右侧移动，方便爪夹将盒子打开，进度提升为50%。",
+            "state_description": "当前状态为爪夹打开，爪夹左贴着盒子盖子。\n为完成打开盒子的任务应当:爪夹左贴着纸盒盖子持续向爪夹方向右侧移动直至将其打开。",
+            "time": 7.266666666666667,
+            "annotations": {
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789118164_rqa5vfomv",
+                            "x": 0.7671110371636329,
+                            "y": 0.6714814724392361
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789120883_65jb5vu8g",
+                            "x": 0.45911105596245994,
+                            "y": 0.6217036946614584
+                        }
+                    ]
+                },
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789126254_yek72683a",
+                            "x": 0.014111083123102835,
+                            "y": 0.026148139105902777,
+                            "width": 0.852999947937015,
+                            "height": 0.8480000000000001
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 8.697866,
+            "frame": 261,
+            "progress": 60,
+            "action_description": "爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方。",
+            "state_description": "当前状态为爪夹打开，爪夹贴着盒子盖子。\n为完成打开盒子的任务应当:爪夹向下按动纸盒盖子。",
+            "progress_explanation": "目前爪夹处于张开状态，爪夹将盒子打开，然后移动爪夹靠近纸盒盖子，方便向下按动，进度提升为60%。",
+            "error_success_analysis": "爪夹处于张开状态，爪夹将盒子打开，然后移动爪夹靠近纸盒盖子，方便向下按动。",
+            "correction_plan": "爪夹将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。",
+            "annotations": {
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789131500_92ip08uh5",
+                            "x": 0.0281110822686107,
+                            "y": 0.01725925021701389,
+                            "width": 0.8509999480590851,
+                            "height": 0.912
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789135044_6nppinwmn",
+                            "x": 0.46311105571831934,
+                            "y": 0.6270370279947917
+                        }
+                    ]
+                },
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789137491_6d38ioqxl",
+                            "x": 0.7711110369194923,
+                            "y": 0.6270370279947917
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下按动。",
+            "correction_plan": "爪夹上升远离盒子。",
+            "error_success_analysis": "爪夹向下按动纸盒盖子，完全打开纸盒。",
+            "frame": 153,
+            "progress": 70,
+            "progress_explanation": "目前爪夹处于张开状态，爪夹向下按动纸盒盖子，完全打开纸盒，进度提升为70%。",
+            "state_description": "当前状态为爪夹打开，爪夹贴着盒子盖子。\n为完成打开盒子的任务应当:爪夹上升远离纸盒。",
+            "time": 10.2,
+            "annotations": {
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789141811_zlin8arz7",
+                            "x": 0.7721110368584572,
+                            "y": 0.6448148057725694
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789143995_fzj800xts",
+                            "x": 0.5011110533989835,
+                            "y": 0.7497036946614584
+                        }
+                    ]
+                },
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789149259_0g878dvav",
+                            "x": 0.0281110822686107,
+                            "y": 0.019037027994791667,
+                            "width": 0.9259999434814485,
+                            "height": 0.9155555555555556
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹上升。",
+            "correction_plan": "任务完成。",
+            "error_success_analysis": "爪夹上升远离盒子，成功打开盒子。",
+            "frame": 192,
+            "progress": 100,
+            "progress_explanation": "目前爪夹处于张开状态，爪夹上升远离盒子，成功打开盒子，进度提升为100%。",
+            "state_description": "当前状态为爪夹打开，远离盒子。\n已完成打开盒子的任务。",
+            "time": 12.8,
+            "annotations": {
+                "bbox_1768789001071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789001071_1768789155179_lntuohkdi",
+                            "x": 0.007111083550348904,
+                            "y": 0.020814805772569445,
+                            "width": 0.6249999618530298,
+                            "height": 0.7893333333333334
+                        }
+                    ]
+                },
+                "point_1768789005807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789005807_1768789158099_xzqwgu9fr",
+                            "x": 0.45811105602349506,
+                            "y": 0.6181481391059028
+                        }
+                    ]
+                },
+                "point_1768789013910": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789013910_1768789160315_x7b1x4mau",
+                            "x": 0.7711110369194923,
+                            "y": 0.6377036946614584
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768789001071",
+            "name": "盒子",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768789005807",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768789013910",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002199.json

@@ -0,0 +1,470 @@
+{
+    "task_description": "抓取杯子放在桌子上：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近桌子：60%\n爪夹将杯子放在桌子：80%\n爪夹松开杯子落在桌子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.992,
+                            "id": "bbox_1768615363830_1768615431314_gaf0zq3zx",
+                            "width": 0.999,
+                            "x": -0.001,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615384946_9fl9qf15c",
+                            "x": 0.45200000000000007,
+                            "y": 0.642370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768615364706": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364706_1768615387418_afmnx9qce",
+                            "x": 0.767,
+                            "y": 0.6405925835503473
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离杯子，未开始移动。进度 0%。\n",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 0.013814432989690721
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9973333333333334,
+                            "id": "bbox_1768615363830_1768615440392_q2zxvhby5",
+                            "width": 0.9970000000000001,
+                            "x": 0.002,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615400570_dnloojixf",
+                            "x": 0.454,
+                            "y": 0.642370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768615364706": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364706_1768615397702_d4iskc1tf",
+                            "x": 0.766,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "爪夹的角度与桌面呈 90 度。水平上未接近杯子\n",
+            "frame": 72,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹右方移动，爪夹角度与桌面呈 90 度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。还未接近杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 2.412
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动\n",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.5457777777777777,
+                            "id": "bbox_1768615363702_1768615412202_4yszymq7f",
+                            "width": 0.23900000000000005,
+                            "x": 0.759,
+                            "y": 0.19259258355034722
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9991111111111112,
+                            "id": "bbox_1768615363830_1768615421966_cv6lbxf5x",
+                            "width": 1,
+                            "x": -0.001,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615403818_sg0tu34rq",
+                            "x": 0.454,
+                            "y": 0.6459259168836806
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768615364706": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364706_1768615406306_2nr844p7g",
+                            "x": 0.764,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "爪夹角度与桌面呈 90 度，缩短了杯子之间的距离。方便后续抓取杯子。",
+            "frame": 120,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杯子。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。水平上接近了杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 4.006598
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度\n",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.5795555555555556,
+                            "id": "bbox_1768615363702_1768615458556_vkkandpkt",
+                            "width": 0.36900000000000005,
+                            "x": 0.571,
+                            "y": 0.19792591688368055
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.992,
+                            "id": "bbox_1768615363830_1768615451250_uvhcapwp1",
+                            "width": 0.999,
+                            "x": 0,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615465776_h68h4o96s",
+                            "x": 0.45,
+                            "y": 0.6317036946614584
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768615364706": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364706_1768615463160_nzlyh6315",
+                            "x": 0.767,
+                            "y": 0.6477036946614583
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，杯子放在桌子。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了杯子，方便抓取。\n",
+            "frame": 175,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杯子。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了杯子。准备抓取杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近",
+            "time": 5.8424
+        },
+        {
+            "action_description": "爪夹合拢\n",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.6631111111111112,
+                            "id": "bbox_1768615363702_1768615478600_6pebsohag",
+                            "width": 0.38,
+                            "x": 0.5940000000000001,
+                            "y": 0.09303702799479166
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9884444444444443,
+                            "id": "bbox_1768615363830_1768615485364_yi3o2bd5q",
+                            "width": 0.9960000000000001,
+                            "x": 0.003,
+                            "y": 0.0059259168836805565
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615469938_w5o48mq4s",
+                            "x": 0.576,
+                            "y": 0.578370361328125
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子。\n",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杯子\n",
+            "frame": 241,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子使其落在桌子的任务应当：抓紧杯子垂直升高爪夹并向爪夹左方的桌子接近",
+            "time": 8.039999
+        },
+        {
+            "action_description": "爪夹夹紧杯子，垂直升高，向爪夹左方移动。\n",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.6613333333333333,
+                            "id": "bbox_1768615363702_1768615505840_tt5zchzv6",
+                            "width": 0.37200000000000005,
+                            "x": 0.576,
+                            "y": 0.07881480577256944
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.992,
+                            "id": "bbox_1768615363830_1768615498648_hzmgs268y",
+                            "width": 0.9960000000000001,
+                            "x": 0.003,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615509286_fxetcewb6",
+                            "x": 0.571,
+                            "y": 0.5890370279947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了桌子。更加方便接近桌子。",
+            "frame": 260,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹左边的桌子接近。缩短了与桌子盒的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了桌子。\n为完成抓取杯子使其落在桌子的任务应当：继续向爪夹左方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "time": 8.6832
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹左方移动",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.6524444444444444,
+                            "id": "bbox_1768615363702_1768615519590_1ip3adnvb",
+                            "width": 0.376,
+                            "x": 0.567,
+                            "y": 0.09303702799479166
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9866666666666666,
+                            "id": "bbox_1768615363830_1768615527002_98dzzi7vq",
+                            "width": 0.9960000000000001,
+                            "x": 0.002,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615513346_u2nt1suwp",
+                            "x": 0.575,
+                            "y": 0.5925925835503473
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "error_success_analysis": "爪夹移动到了桌子正上方，方便将目标放在桌子。",
+            "frame": 296,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧杯子，到了爪夹左方的桌子正上方，方便放在桌子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于桌子正上方。\n为完成抓取杯子使其落在桌子的任务应当：将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "time": 9.8758
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.6417777777777778,
+                            "id": "bbox_1768615363702_1768615540302_bupb68sp2",
+                            "width": 0.36499999999999994,
+                            "x": 0.571,
+                            "y": 0.08592591688368055
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9742222222222221,
+                            "id": "bbox_1768615363830_1768615534582_603xkhzsd",
+                            "width": 1,
+                            "x": -0.001,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615543294_54at2fnx6",
+                            "x": 0.5740000000000001,
+                            "y": 0.5837036946614583
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使杯子放在桌子。\n",
+            "error_success_analysis": "杯子放在桌子，方便杯子放在桌子。",
+            "frame": 324,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，杯子放在桌子。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，杯子放在桌子。\n为完成抓取杯子使其落在桌子的任务应当：松开爪夹，使杯子放在桌子。",
+            "time": 10.8138
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1768615363702": {
+                    "instances": [
+                        {
+                            "height": 0.3591111111111111,
+                            "id": "bbox_1768615363702_1768615559232_clxtdurmi",
+                            "width": 0.16499999999999995,
+                            "x": 0.29900000000000004,
+                            "y": 0.6352592502170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768615363830": {
+                    "instances": [
+                        {
+                            "height": 0.9991111111111112,
+                            "id": "bbox_1768615363830_1768615566670_hsa0jezlu",
+                            "width": 0.998,
+                            "x": 0,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768615364598": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364598_1768615546798_uydruxk02",
+                            "x": 0.45099999999999996,
+                            "y": 0.642370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768615364706": {
+                    "instances": [
+                        {
+                            "id": "point_1768615364706_1768615549580_dnbybas24",
+                            "x": 0.764,
+                            "y": 0.6317036946614584
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，杯子放在桌子。",
+            "frame": 395,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，杯子放在桌子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子放在桌子的任务目标完成。",
+            "time": 13.1588
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1768615363702",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1768615363830",
+            "name": "桌子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1768615364598",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1768615364706",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002237.json

@@ -0,0 +1,422 @@
+{
+    "task_description": "抓取红色盒子放入箱子里：\n准备开始移动：0%\n爪夹靠近红色盒子：20%\n爪夹抓取红色盒子：40%\n爪夹抓紧红色盒子接近箱子：60%\n爪夹将红色盒子放在箱子里：80%\n爪夹松开过红色盒子放进箱子里：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。",
+            "error_success_analysis": "",
+            "frame": 45,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离红色盒子，未开始移动。进度 0%。\n",
+            "state_description": "当前为初始状态，爪夹张开，远离红色盒子，未开始移动。\n为完成抓取红色盒子放入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。",
+            "time": 1.4981443515463917,
+            "annotations": {
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767079773748_g7hgl6y6y",
+                            "x": 0.438,
+                            "y": 0.571259250217014
+                        }
+                    ]
+                },
+                "point_1767079169832": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079169832_1767079791618_oht83p29q",
+                            "x": 0.766,
+                            "y": 0.6192592502170139
+                        }
+                    ]
+                },
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767079815062_4p19ohz4f",
+                            "x": 0.002,
+                            "y": 0.6761481391059028,
+                            "width": 0.128,
+                            "height": 0.31466666666666676
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。",
+            "error_success_analysis": "爪夹的角度与桌面呈90度。水平上未接近红色盒子。\n",
+            "frame": 86,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈90度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近红色盒子。\n为完成抓取红色盒子落入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。",
+            "time": 2.883333,
+            "annotations": {
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767079826995_ak5v8xz1f",
+                            "x": 0.127,
+                            "y": 0.39881480577256945,
+                            "width": 0.211,
+                            "height": 0.4106666666666667
+                        }
+                    ]
+                },
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767079831952_n58x564un",
+                            "x": 0.442,
+                            "y": 0.5641481391059028
+                        }
+                    ]
+                },
+                "point_1767079169832": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079169832_1767079835080_8cm8sdbst",
+                            "x": 0.767,
+                            "y": 0.6210370279947917
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动。",
+            "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。",
+            "error_success_analysis": "爪夹角度与桌面呈90度，缩短了红色盒子之间的距离。方便后续抓取红色盒子。",
+            "frame": 127,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色盒子。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近红色盒子。\n为完成抓取红色盒子落入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。",
+            "time": 4.2212,
+            "annotations": {
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080069515_tksjp5mbq",
+                            "x": 0.45200000000000007,
+                            "y": 0.6210370279947917
+                        }
+                    ]
+                },
+                "point_1767079169832": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079169832_1767080072681_ortc9e6wr",
+                            "x": 0.768,
+                            "y": 0.6263703613281251
+                        }
+                    ]
+                },
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080080675_u0y8lme9t",
+                            "x": 0.45,
+                            "y": 0.030814805772569443,
+                            "width": 0.129,
+                            "height": 0.43200000000000005
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹后方移动并垂直向下移动，调整爪夹角度",
+            "correction_plan": "爪夹合拢抓取红色盒子，抓紧红色或者垂直升高爪夹并向爪夹右方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，使红色盒子落入铁盒。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了红色盒子，方便抓取。",
+            "frame": 182,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色盒子。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了红色盒子。准备抓取红色盒子。\n为完成抓取红色盒子落入箱子的任务应当：爪夹合拢抓取红色盒子，抓紧红色盒子垂直升高爪夹并向爪夹右方的箱子接近",
+            "time": 6.066533,
+            "annotations": {
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080188907_9erm7s8pc",
+                            "x": 0.526,
+                            "y": 0.14103702799479167,
+                            "width": 0.17,
+                            "height": 0.608
+                        }
+                    ]
+                },
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080193066_uvfiiooep",
+                            "x": 0.44800000000000006,
+                            "y": 0.6192592502170139
+                        }
+                    ]
+                },
+                "point_1767079169832": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079169832_1767080195870_37398zba0",
+                            "x": 0.767,
+                            "y": 0.6317036946614584
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合���\n",
+            "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹右方的箱子接近，水平到达箱子的正上方后将红色盒子放入，松开爪夹，使红色盒子落入箱子。\n",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色盒子。\n",
+            "frame": 256,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到红色盒子。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到红色盒子，爪夹角度与桌面接近垂直。\n为完成抓取红色盒子使其落入箱子的任务应当：抓紧红色盒子垂直升高爪夹并向爪夹右方的箱子接近。",
+            "time": 8.534666,
+            "annotations": {
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080250603_qagik4r2l",
+                            "x": 0.483,
+                            "y": 0.34192591688368057,
+                            "width": 0.259,
+                            "height": 0.6115555555555556
+                        }
+                    ]
+                },
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080254107_b390679a4",
+                            "x": 0.526,
+                            "y": 0.5570370279947917
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧红色盒子，垂直升高，向爪夹右方移动。",
+            "correction_plan": "继续向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，使红色盒子落入箱子。\n",
+            "error_success_analysis": "爪夹合拢继续夹紧红色盒子，水平上接近了箱子。更加方便接近箱子。",
+            "frame": 329,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧红色盒子，垂直升高并向爪夹右边的箱子接近。缩短了与箱子的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧红色盒子，水平上接近了箱子。\n为完成抓取红色盒子落入箱子的任务应当：继续向爪夹右方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，使蓝色方块落入箱子。",
+            "time": 10.956666,
+            "annotations": {
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080380709_6b44ckimr",
+                            "x": 0.519,
+                            "y": 0.5605925835503472
+                        }
+                    ]
+                },
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080383697_sfie0xzd2",
+                            "x": 0.49000000000000005,
+                            "y": 0.322370361328125,
+                            "width": 0.24500000000000002,
+                            "height": 0.6222222222222222
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧红色盒子，向爪夹右方移动",
+            "correction_plan": "将红色盒子放入箱子，松开爪夹，使红色盒子落入箱子。\n",
+            "error_success_analysis": "爪夹移动到了铁盒正上方，方便将目标放入箱子。",
+            "frame": 390,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧蓝色方块，到了爪夹右方的箱子正上方，方便落入箱子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧红色盒子，爪夹角度接近垂直于桌面，位于箱子正上方。\n为完成抓取红色盒子使其落入箱子的任务应当：将红色盒子放入箱子，松开爪夹，使红色盒子落入箱子。",
+            "time": 13.0096,
+            "annotations": {
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080537255_pvilhxyaf",
+                            "x": 0.483,
+                            "y": 0.3472592502170139,
+                            "width": 0.269,
+                            "height": 0.5991111111111111
+                        }
+                    ]
+                },
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080540203_cruy0saax",
+                            "x": 0.519,
+                            "y": 0.578370361328125
+                        }
+                    ]
+                },
+                "bbox_1767079147222": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079147222_1767080585471_0egdvo0wl",
+                            "x": 0.42300000000000004,
+                            "y": 0.00948147243923611,
+                            "width": 0.5720000000000001,
+                            "height": 0.8942222222222223
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "correction_plan": "松开爪夹，使红色盒子落入箱子。",
+            "error_success_analysis": "红色盒子放入到箱子，方便红色盒子落入箱子。",
+            "frame": 426,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，红色放入到箱子。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧红色盒子，爪夹角度接近垂直于桌面，红色盒子放入箱子。\n为完成抓取红色盒子使其落入箱子的任务应当：松开爪夹，使红色盒子落入箱子。",
+            "time": 14.209066,
+            "annotations": {
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080559734_z6eskgivi",
+                            "x": 0.514,
+                            "y": 0.5908148057725694
+                        }
+                    ]
+                },
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080563231_1xv8gnv1a",
+                            "x": 0.496,
+                            "y": 0.33481480577256945,
+                            "width": 0.23100000000000004,
+                            "height": 0.5973333333333334
+                        }
+                    ]
+                },
+                "bbox_1767079147222": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079147222_1767080569867_kp83e82kn",
+                            "x": 0.21600000000000003,
+                            "y": 0.0023703613281250003,
+                            "width": 0.776,
+                            "height": 0.9279999999999999
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，红色盒子落入箱子。",
+            "frame": 477,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，红色盒子落入箱子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开红色盒子落入箱子的任务目标完成。",
+            "time": 15.916,
+            "annotations": {
+                "bbox_1767079146285": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079146285_1767080685891_ul0daaqf4",
+                            "x": 0.48,
+                            "y": 0.178370361328125,
+                            "width": 0.28200000000000003,
+                            "height": 0.6755555555555556
+                        }
+                    ]
+                },
+                "bbox_1767079147222": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767079147222_1767080690577_r6bzvmi5p",
+                            "x": 0.331,
+                            "y": 0.0005925835503472223,
+                            "width": 0.664,
+                            "height": 0.9155555555555556
+                        }
+                    ]
+                },
+                "point_1767079168936": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079168936_1767080693759_t8qckrg4f",
+                            "x": 0.45,
+                            "y": 0.5908148057725694
+                        }
+                    ]
+                },
+                "point_1767079169832": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767079169832_1767080695948_j7qhmuhz7",
+                            "x": 0.748,
+                            "y": 0.6672592502170139
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767079146285",
+            "name": "红色盒子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767079147222",
+            "name": "箱子",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767079168936",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767079169832",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002349.json

@@ -0,0 +1,630 @@
+{
+    "task_description": "拿起那个瓶子，把它放在柜台的左边。\n爪夹开始移动:0%\n爪夹靠近瓶子:20%\n爪夹夹起瓶子:40%\n爪夹移动瓶子:60%\n爪夹将瓶子放在柜台的左边:80%\n爪夹松开，瓶子放在柜台的左边:100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，暂未移动。",
+            "correction_plan": "调整爪夹向爪夹方向的后方移动至瓶子上方，爪夹下降靠近瓶子，抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "",
+            "frame": 15,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，准备开始移动，没有接触瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:调整爪夹向爪夹方向的后方移动至瓶子上方，方便爪夹下降靠近瓶子。",
+            "time": 1,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792710367_k3o6w4rws",
+                            "x": 0.7691110370415626,
+                            "y": 0.6074814724392361
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792713958_jlcc0cped",
+                            "x": 0.4501110565117763,
+                            "y": 0.6110370279947916
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792726406_r2o3utsgd",
+                            "x": 0.6731110429009373,
+                            "y": 0.7034814724392361,
+                            "width": 0.11899999273681683,
+                            "height": 0.25422222222222224
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向后方移动。",
+            "correction_plan": "爪夹下降靠近瓶子，抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹成功向爪夹方向后方移动，方便爪夹下降靠近瓶子。",
+            "frame": 51,
+            "progress": 10,
+            "progress_explanation": "目前爪夹向爪夹方向后方移动，方便爪夹下降靠近瓶子，进度提升为10%。",
+            "state_description": "当前状态为爪夹打开，向后移动。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹下降靠近瓶子，爪夹合拢抓取瓶子向上抬升。",
+            "time": 1.7061162445309828,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792700039_9qg2ihr8l",
+                            "x": 0.5971110475396089,
+                            "y": 0.38229629177517366,
+                            "width": 0.11499999298095745,
+                            "height": 0.3519999999999999
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792702662_eek5g5ajm",
+                            "x": 0.4501110565117763,
+                            "y": 0.5897036946614583
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792704583_ynopx5766",
+                            "x": 0.7701110369805274,
+                            "y": 0.6305925835503472
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降。",
+            "correction_plan": "爪夹抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹下降成功靠近瓶子，方便爪夹合拢抓取。",
+            "frame": 40,
+            "progress": 15,
+            "progress_explanation": "目前爪夹靠近瓶子，方便爪夹合拢抓取，进度提升为15%。",
+            "state_description": "当前状态为爪夹打开，靠近瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹合拢抓取瓶子向上抬升。",
+            "time": 2.6666666666666665,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792688911_fyifran10",
+                            "x": 0.766111037224668,
+                            "y": 0.6217036946614584
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792691455_emta59fzw",
+                            "x": 0.452111056389706,
+                            "y": 0.6110370279947916
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792694830_e89moy6vk",
+                            "x": 0.4231110581597254,
+                            "y": 0.360370361328125,
+                            "width": 0.16699998980712955,
+                            "height": 0.3893333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度靠近瓶子。",
+            "correction_plan": "爪夹抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹调整角度成功靠近瓶子，方便爪夹合拢抓取。",
+            "frame": 59,
+            "progress": 20,
+            "progress_explanation": "目前爪夹调整角度靠近瓶子，方便爪夹合拢抓取，进度提升为20%。",
+            "state_description": "当前状态为爪夹打开，靠近瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹合拢抓取瓶子向上抬升。",
+            "time": 3.933333333333333,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792680951_upidv28ct",
+                            "x": 0.4691110553521084,
+                            "y": 0.3212592502170139,
+                            "width": 0.19799998791503973,
+                            "height": 0.4071111111111111
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792683422_zf9kptjsb",
+                            "x": 0.452111056389706,
+                            "y": 0.5897036946614583
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792685247_ev63q8ji9",
+                            "x": 0.7681110371025978,
+                            "y": 0.6252592502170139
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢抓取瓶子",
+            "correction_plan": "爪夹抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹合拢成功抓取瓶子，开始抬升和移动。",
+            "frame": 81,
+            "progress": 40,
+            "progress_explanation": "目前爪夹合拢成功抓取瓶子，开始抬升和移动，进度提升为40%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹合拢抓取瓶子向上抬升，然后向爪夹方向左侧移动。",
+            "time": 5.4,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792664503_llu7gw1um",
+                            "x": 0.6601110436943942,
+                            "y": 0.5701481391059028
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792667047_f726n79ja",
+                            "x": 0.5491110504692962,
+                            "y": 0.5559259168836805
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792676567_8q93ielpv",
+                            "x": 0.4871110542534757,
+                            "y": 0.39237036132812503,
+                            "width": 0.1959999880371101,
+                            "height": 0.3911111111111111
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向上抬升。",
+            "correction_plan": "向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹抓取瓶子，成功向上抬升，方便爪夹向爪夹方向左侧移动。",
+            "frame": 195,
+            "progress": 45,
+            "progress_explanation": "目前爪夹抓取瓶子，成功向上抬升，方便爪夹向爪夹方向左侧移动，进度提升为45%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹向爪夹方向左侧移动。",
+            "time": 6.513538622446678,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792651232_8xays80xj",
+                            "x": 0.48611105431451085,
+                            "y": 0.3799259168836806,
+                            "width": 0.21099998712158277,
+                            "height": 0.4
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792658977_z7fxw18sh",
+                            "x": 0.5481110505303313,
+                            "y": 0.5417036946614583
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792661399_0ug7gnagq",
+                            "x": 0.6561110439385349,
+                            "y": 0.5541481391059028
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向左侧移动。",
+            "correction_plan": "向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹抓取瓶子向爪夹方向左侧移动，方便爪夹向后移动靠近柜台。",
+            "frame": 234,
+            "progress": 50,
+            "progress_explanation": "目前爪夹抓取瓶子向爪夹方向左侧移动，进度提升为50%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹向爪夹方向后方移动靠近柜台左侧。",
+            "time": 7.805084932931491,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792636511_cl9bwp184",
+                            "x": 0.6581110438164646,
+                            "y": 0.561259250217014
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792639639_leq5s0ib5",
+                            "x": 0.5491110504692962,
+                            "y": 0.5470370279947917
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792642943_au600zscj",
+                            "x": 0.26611106774224436,
+                            "y": 0.2412592502170139,
+                            "width": 0.4879999702148455,
+                            "height": 0.6862222222222223
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792646560_xblwjotek",
+                            "x": 0.4891110541314053,
+                            "y": 0.40481480577256945,
+                            "width": 0.1999999877929695,
+                            "height": 0.3520000000000001
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向后移动。",
+            "correction_plan": "爪夹下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。",
+            "error_success_analysis": "爪夹抓取瓶子向爪夹方向后方移动，靠近柜台左侧，方便爪夹下降将瓶子放在柜台上。",
+            "frame": 141,
+            "progress": 60,
+            "progress_explanation": "目前爪夹抓取瓶子向爪夹方向后方移动，靠近柜台左侧，方便爪夹下降将瓶子放在柜台上，进度提升为60%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹下降靠近柜台左侧。",
+            "time": 9.4,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792624696_g4k6qjsji",
+                            "x": 0.45811105602349506,
+                            "y": 0.40481480577256945,
+                            "width": 0.24299998516845794,
+                            "height": 0.35022222222222216
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792629249_a7io7ns3d",
+                            "x": 0.10811107738579848,
+                            "y": 0.07770369466145834,
+                            "width": 0.6139999625244164,
+                            "height": 0.7733333333333333
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792631448_miqde2xuv",
+                            "x": 0.5491110504692962,
+                            "y": 0.5470370279947917
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792633223_6dlgyn1gm",
+                            "x": 0.6541110440606052,
+                            "y": 0.5577036946614584
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降。",
+            "correction_plan": "调整爪夹角度，爪夹松开，瓶子放在桌子上。",
+            "error_success_analysis": "爪夹成功下降，将瓶子放在桌子上。",
+            "frame": 170,
+            "progress": 80,
+            "progress_explanation": "目前爪夹下降将瓶子放在柜台上，进度提升为80%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子放在柜台左侧。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹松开，将瓶子放在柜台左侧。",
+            "time": 11.333333333333334,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792610464_zrv4eotuw",
+                            "x": 0.661111043633359,
+                            "y": 0.5559259168836805
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792613232_cef7lqzs6",
+                            "x": 0.5481110505303313,
+                            "y": 0.5417036946614583
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792617520_uuj87399x",
+                            "x": 0.06911107976616945,
+                            "y": 0.020814805772569445,
+                            "width": 0.779999952392581,
+                            "height": 0.7751111111111112
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792620576_87ckgqfrw",
+                            "x": 0.4701110552910732,
+                            "y": 0.3817036946614583,
+                            "width": 0.2259999862060555,
+                            "height": 0.3644444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降。",
+            "correction_plan": "调整爪夹角度，爪夹松开，将瓶子放在桌子上。",
+            "error_success_analysis": "爪夹调整角度，方便爪夹成功将瓶子放在柜台上。",
+            "frame": 200,
+            "progress": 85,
+            "progress_explanation": "目前爪夹调整角度将瓶子放在柜台上，进度提升为85%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子放在柜台左侧。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹调整角度，松开爪夹将瓶子放在柜台上。",
+            "time": 13.333333333333334,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792599641_yyahhercc",
+                            "x": 0.45911105596245994,
+                            "y": 0.043925916883680555,
+                            "width": 0.23699998553466878,
+                            "height": 0.7164444444444444
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792603224_m4pn5yxva",
+                            "x": 0.06211108019341551,
+                            "y": 0.015481472439236112,
+                            "width": 0.7039999570312525,
+                            "height": 0.7555555555555555
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792605600_dkqc73h6d",
+                            "x": 0.5511110503472259,
+                            "y": 0.5434814724392362
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792607784_vna3jhftp",
+                            "x": 0.6601110436943942,
+                            "y": 0.5559259168836805
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向左侧微微移动。",
+            "correction_plan": "爪夹松开，将瓶子放在桌子上。",
+            "error_success_analysis": "爪夹向爪夹方向左侧微微移动，方便将瓶子放在柜台上。",
+            "frame": 218,
+            "progress": 90,
+            "progress_explanation": "目前爪夹向爪夹方向左侧微微移动，方便将瓶子放在柜台上，进度提升为90%。",
+            "state_description": "当前状态为爪夹合拢，抓紧瓶子放在柜台左侧。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:松开爪夹将瓶子放在柜台上。",
+            "time": 14.533333333333333,
+            "annotations": {
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792583721_rg23ltnh9",
+                            "x": 0.6571110438774996,
+                            "y": 0.5719259168836806
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792586057_ki04d2sqs",
+                            "x": 0.5511110503472259,
+                            "y": 0.5577036946614584
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792589704_eo70bmph3",
+                            "x": 0.1421110753106033,
+                            "y": 0.013703694661458335,
+                            "width": 0.6569999598999047,
+                            "height": 0.64
+                        }
+                    ]
+                },
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792594281_kv4e0sjzq",
+                            "x": 0.46711105547417875,
+                            "y": 0.043925916883680555,
+                            "width": 0.23599998559570395,
+                            "height": 0.7200000000000001
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹微微下降张开爪夹。",
+            "correction_plan": "任务完成。",
+            "error_success_analysis": "爪夹张开，成功将瓶子放在柜台上。",
+            "frame": 239,
+            "progress": 100,
+            "progress_explanation": "目前爪夹张开，成功将瓶子放在柜台上，进度提升为100%。",
+            "state_description": "当前状态为爪夹张开，瓶子放在柜台左侧。\n已完成拿起那个瓶子，把它放在柜台的左边的任务。",
+            "time": 15.933333333333334,
+            "annotations": {
+                "bbox_1768792527658": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792527658_1768792570649_d4y3dchu4",
+                            "x": 0.43711105730523325,
+                            "y": 0.012518513997395833,
+                            "width": 0.24199998522949312,
+                            "height": 0.5315555555555556
+                        }
+                    ]
+                },
+                "bbox_1768792532099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768792532099_1768792574401_ausftqdw7",
+                            "x": 0.13211107592095483,
+                            "y": 0.013703694661458335,
+                            "width": 0.6669999592895531,
+                            "height": 0.5404444444444445
+                        }
+                    ]
+                },
+                "point_1768792542121": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792542121_1768792577434_7zl7eps6o",
+                            "x": 0.511111052788632,
+                            "y": 0.5541481391059028
+                        }
+                    ]
+                },
+                "point_1768792548850": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768792548850_1768792579801_bgfyb3o52",
+                            "x": 0.694111041619199,
+                            "y": 0.5897036946614583
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768792527658",
+            "name": "瓶子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768792532099",
+            "name": "柜台左侧",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768792542121",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768792548850",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002634.json

@@ -0,0 +1,384 @@
+{
+    "task_description": "抓取盖子放到碗上：\n准备开始移动：0%\n爪夹靠近盖子：20%\n爪夹抓取盖子：40%\n爪夹抓紧盖子接近碗：60%\n爪夹将盖子放在碗上：80%\n爪夹松开盖子落在碗上：100%",
+    "progress_points": [
+        {
+            "time": 0,
+            "frame": 0,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离盖子，未开始移动。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。",
+            "progress_explanation": "当前为初始状态，远离盖子，未开始移动。进度 0%。\n",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。接着落下爪夹靠近盖子，接近盖子后爪夹合拢抓取盖子。抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "annotations": {
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273464735_olpfiguq5",
+                            "x": 0.454,
+                            "y": 0.6352592502170139
+                        }
+                    ]
+                },
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273468263_auwoe5t2x",
+                            "x": 0.771,
+                            "y": 0.6459259168836806
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 2.260266,
+            "frame": 68,
+            "progress": 5,
+            "action_description": "爪夹向爪夹右后方移动，调整爪夹角度。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近盖子。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。",
+            "progress_explanation": "爪夹向爪夹右后方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。",
+            "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近盖子。\n",
+            "correction_plan": "爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。接着落下爪夹靠近盖子，接近盖子后爪夹合拢抓取盖子。抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "annotations": {
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273473355_29gogu73v",
+                            "x": 0.772,
+                            "y": 0.6548148057725695
+                        }
+                    ]
+                },
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273475605_5i5fjdd58",
+                            "x": 0.45099999999999996,
+                            "y": 0.6352592502170139
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 4.911733,
+            "frame": 147,
+            "progress": 15,
+            "action_description": "爪夹向爪夹右后方移动\n",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了盖子。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。",
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了盖子。更加方便抓取。因此进度提升为 15%。",
+            "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了盖子之间的距离。方便后续抓取盖子。",
+            "correction_plan": "爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。接着落下爪夹靠近盖子，接近盖子后爪夹合拢抓取盖子。抓紧盖子��直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "annotations": {
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273480097_nzdpjuq9c",
+                            "x": 0.45,
+                            "y": 0.6459259168836806
+                        }
+                    ]
+                },
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273482681_0qvllf1hm",
+                            "x": 0.768,
+                            "y": 0.6477036946614583
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 7.106799,
+            "frame": 213,
+            "progress": 20,
+            "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度\n",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了盖子。准备抓取盖子。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了盖子。方便抓取，因此进度提升为 20%。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了盖子，方便抓取。\n",
+            "correction_plan": "爪夹合拢抓取盖子，抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "annotations": {
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273487821_sbxz5sqyh",
+                            "x": 0.752,
+                            "y": 0.6459259168836806
+                        }
+                    ]
+                },
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273495973_nl1td5726",
+                            "x": 0.476,
+                            "y": 0.6139259168836806
+                        }
+                    ]
+                },
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273499947_ef23xg6el",
+                            "x": 0.383,
+                            "y": 0.34370369466145834,
+                            "width": 0.188,
+                            "height": 0.5884444444444445
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 8.475999,
+            "frame": 254,
+            "progress": 40,
+            "action_description": "爪夹合拢\n",
+            "state_description": "爪夹合拢抓取到盖子，爪夹角度与桌面接近垂直。\n为完成抓取盖子使其放在碗上的任务应当：抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近",
+            "progress_explanation": "爪夹合拢抓取到盖子。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到盖子。\n",
+            "correction_plan": "抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。\n",
+            "annotations": {
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273506117_90c3zqfyo",
+                            "x": 0.506,
+                            "y": 0.32948147243923614,
+                            "width": 0.133,
+                            "height": 0.6311111111111113
+                        }
+                    ]
+                },
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273512021_0divspkkz",
+                            "x": 0.63,
+                            "y": 0.5854814724392361
+                        }
+                    ]
+                },
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273518841_kir8857i1",
+                            "x": 0.564,
+                            "y": 0.5819259168836806
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 10.388533,
+            "frame": 312,
+            "progress": 50,
+            "action_description": "爪夹夹紧盖子，垂直升高，向爪夹右前方移动。\n",
+            "state_description": "爪夹合拢夹紧盖子，水平上接近了碗。\n为完成抓取盖子使其放在碗上的任务应当：继续向爪夹右前方的铁盒接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "progress_explanation": "爪夹合拢夹紧盖子，垂直升高并向爪夹右前边的碗接近。缩短了与碗的距离。因此进度提升为 50%",
+            "error_success_analysis": "爪夹合拢继续夹紧盖子，水平上接近了碗。更加方便接近碗。",
+            "correction_plan": "继续向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。\n",
+            "annotations": {
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273528277_zzmcxim37",
+                            "x": 0.571,
+                            "y": 0.5908148057725694
+                        }
+                    ]
+                },
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273535071_pz5qpt63t",
+                            "x": 0.49800000000000005,
+                            "y": 0.32592591688368056,
+                            "width": 0.15,
+                            "height": 0.5973333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 12.735733,
+            "frame": 382,
+            "progress": 60,
+            "action_description": "爪夹夹紧盖子，向爪夹右前方移动",
+            "state_description": "爪夹夹紧盖子，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取盖子使其放在碗上的任务应当：将盖子放在碗上，松开爪夹，使盖子放在碗上。",
+            "progress_explanation": "爪夹夹紧盖子，到了爪夹右前方的碗正上方，方便放在碗上。因此进度提升为 60%。",
+            "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放在碗上。",
+            "correction_plan": "将盖子放在碗上，松开爪夹，使盖子放在碗上。\n",
+            "annotations": {
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273544493_c13swb6tf",
+                            "x": 0.5660000000000001,
+                            "y": 0.5890370279947917
+                        }
+                    ]
+                },
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273549505_vn1rla49u",
+                            "x": 0.499,
+                            "y": 0.32948147243923614,
+                            "width": 0.14500000000000002,
+                            "height": 0.6026666666666668
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 15.561066,
+            "frame": 467,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "state_description": "爪夹夹紧盖子，爪夹角度接近垂直于桌面，盖子放在碗上。\n为完成抓取盖子使其放在碗上的任务应当：松开爪夹，使盖子放在碗上。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，盖子放在碗上。因此进度提升为 80%。",
+            "error_success_analysis": "蓝色方块放在碗上，方便盖子放在碗上。",
+            "correction_plan": "松开爪夹，使盖子放在碗上。\n",
+            "annotations": {
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273554345_t6lyehg4f",
+                            "x": 0.496,
+                            "y": 0.306370361328125,
+                            "width": 0.15,
+                            "height": 0.6471111111111112
+                        }
+                    ]
+                },
+                "bbox_1768273399481": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399481_1768273559893_6i5ua67rt",
+                            "x": 0.207,
+                            "y": 0.27792591688368057,
+                            "width": 0.30900000000000005,
+                            "height": 0.5191111111111111
+                        }
+                    ]
+                },
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273562989_4et1j4gmt",
+                            "x": 0.568,
+                            "y": 0.5765925835503473
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 18.147333,
+            "frame": 544,
+            "progress": 100,
+            "action_description": "松开爪夹，使盖子放在碗上。\n",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开盖子放在碗上的任务目标完成。",
+            "progress_explanation": "爪夹张开，盖子放在碗上，任务完成。因此进度提升为 100%。",
+            "error_success_analysis": "爪夹张开，盖子放在碗上。",
+            "correction_plan": "",
+            "annotations": {
+                "point_1768273400161": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400161_1768273574279_hwdirh8hk",
+                            "x": 0.45200000000000007,
+                            "y": 0.6477036946614583
+                        }
+                    ]
+                },
+                "point_1768273400281": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768273400281_1768273576215_zueur909j",
+                            "x": 0.771,
+                            "y": 0.6477036946614583
+                        }
+                    ]
+                },
+                "bbox_1768273399367": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399367_1768273580481_mny94ht05",
+                            "x": 0.068,
+                            "y": 0.3117036946614583,
+                            "width": 0.308,
+                            "height": 0.4942222222222223
+                        }
+                    ]
+                },
+                "bbox_1768273399481": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768273399481_1768273584567_x7hlmcctb",
+                            "x": 0.087,
+                            "y": 0.41481480577256946,
+                            "width": 0.292,
+                            "height": 0.4835555555555555
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768273399367",
+            "name": "盖子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768273399481",
+            "name": "碗",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768273400161",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768273400281",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003324.json

@@ -0,0 +1,514 @@
+{
+    "task_description": "抓取杯子放入杯托里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近杯托：60%\n爪夹将杯子放入杯托：80%\n爪夹松开杯子落入杯托：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.2524444444444444,
+                            "id": "bbox_1767509920797_1767514443913_xxecjwzs0",
+                            "width": 0.092,
+                            "x": 0.5589999999999999,
+                            "y": 0.3804444444444445
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.08711111111111115,
+                            "id": "bbox_1767509925932_1767514439520_tq7kfs95r",
+                            "width": 0.06699999999999999,
+                            "x": 0.704,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514427072_llqxo5wtc",
+                            "x": 0.754,
+                            "y": 0.25066666666666665
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514435432_4udl0qbo5",
+                            "x": 0.774,
+                            "y": 0.25066666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "",
+            "frame": 59,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子落入杯托的任务应当：爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 1.9559449659793815
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.2524444444444444,
+                            "id": "bbox_1767509920797_1767514389408_9ffs10ytc",
+                            "width": 0.07400000000000002,
+                            "x": 0.5660000000000001,
+                            "y": 0.3697777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.09244444444444445,
+                            "id": "bbox_1767509925932_1767514384401_kth2zla7r",
+                            "width": 0.07199999999999998,
+                            "x": 0.704,
+                            "y": 0.44977777777777783
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514402496_b3t27718c",
+                            "x": 0.6910000000000001,
+                            "y": 0.31466666666666665
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514405208_ko8xx04p8",
+                            "x": 0.7230000000000001,
+                            "y": 0.29333333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方继续移动并下降，直至杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动下降，爪夹角度接近垂直于桌面，水平上未接近杯子。",
+            "frame": 79,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的左前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离杯子。\n为完成抓取杯子落入杯托的任务应当：爪夹向爪夹方向的左前方继续移动并下降，直至杯子的正上方。",
+            "time": 2.648533
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动并调整角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.23644444444444446,
+                            "id": "bbox_1767509920797_1767514375176_95j8o3fyi",
+                            "width": 0.07800000000000003,
+                            "x": 0.5660000000000001,
+                            "y": 0.3928888888888889
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.1137777777777778,
+                            "id": "bbox_1767509925932_1767514378080_let2v3spw",
+                            "width": 0.07999999999999999,
+                            "x": 0.696,
+                            "y": 0.43377777777777776
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514367616_qtz4u294r",
+                            "x": 0.626,
+                            "y": 0.35555555555555557
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514370864_3py2m59ig",
+                            "x": 0.6759999999999999,
+                            "y": 0.33066666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了杯子的距离，方便后续抓取杯子。",
+            "frame": 118,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了杯子。\n为完成抓取杯子落入杯托的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至杯子的正上方。\n",
+            "time": 3.947333
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.26666666666666666,
+                            "id": "bbox_1767509920797_1767514358033_qwmuxc21j",
+                            "width": 0.07999999999999999,
+                            "x": 0.5660000000000001,
+                            "y": 0.3697777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.08355555555555559,
+                            "id": "bbox_1767509925932_1767514353976_73bwedjhh",
+                            "width": 0.06200000000000001,
+                            "x": 0.708,
+                            "y": 0.45155555555555554
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514346360_eh2d1djwz",
+                            "x": 0.6100000000000001,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514349624_pbco1r6ns",
+                            "x": 0.656,
+                            "y": 0.416
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹垂直向下移动，处于杯子的正上方，方便抓取。",
+            "frame": 162,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于杯子的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于杯子的正上方，准备抓取杯子。\n为完成抓取杯子落入杯托的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的右侧移动，直至杯托的正上方",
+            "time": 5.395257590721649
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.25955555555555554,
+                            "id": "bbox_1767509920797_1767514341728_ocp5bel7g",
+                            "width": 0.10299999999999994,
+                            "x": 0.556,
+                            "y": 0.3697777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.0942222222222222,
+                            "id": "bbox_1767509925932_1767514337944_4zn1g3r9e",
+                            "width": 0.06299999999999999,
+                            "x": 0.708,
+                            "y": 0.4426666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514330640_02jg7fwl9",
+                            "x": 0.618,
+                            "y": 0.43733333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧杯子垂直升高爪夹并向爪夹方向右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到杯子。",
+            "frame": 187,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落入杯托的任务应当：抓紧杯子垂直升高爪夹并向爪夹方向右侧的杯托接近。",
+            "time": 6.226599
+        },
+        {
+            "action_description": "爪夹夹紧杯子垂直升高，离开桌面。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.2506666666666667,
+                            "id": "bbox_1767509920797_1767514307473_tbhuonm1h",
+                            "width": 0.09100000000000001,
+                            "x": 0.571,
+                            "y": 0.23644444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.08888888888888889,
+                            "id": "bbox_1767509925932_1767514301913_g8syrcmzy",
+                            "width": 0.05799999999999992,
+                            "x": 0.7100000000000001,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514324752_o9j0sid92",
+                            "x": 0.646,
+                            "y": 0.2648888888888889
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514321616_uwg6zrjr8",
+                            "x": 0.664,
+                            "y": 0.2737777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹右侧的杯托接近，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹合拢夹紧杯子，水平上接近了杯托，更加方便接近杯托。",
+            "frame": 222,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹右侧的杯托接近，缩短了与杯托的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了杯托。\n为完成抓取杯子落入杯托的任务应当：继续向爪夹右侧的杯托接近，直至杯托的正上方后将杯子放入杯托。",
+            "time": 7.398066
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹方向的右侧移动。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.1991111111111111,
+                            "id": "bbox_1767509920797_1767514286217_c0hnp5q2z",
+                            "width": 0.07199999999999998,
+                            "x": 0.67,
+                            "y": 0.18666666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.10666666666666669,
+                            "id": "bbox_1767509925932_1767514294080_justb4kf0",
+                            "width": 0.07999999999999999,
+                            "x": 0.7,
+                            "y": 0.4408888888888889
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514279888_jk93zyp3i",
+                            "x": 0.724,
+                            "y": 0.224
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514275736_atwhbbgi2",
+                            "x": 0.742,
+                            "y": 0.24177777777777779
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的正后方微调，直至杯托的正上方后将杯子放入杯托。松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹角度偏离，没有移动至杯托的正上方。",
+            "frame": 288,
+            "progress": 55,
+            "progress_explanation": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于杯托的前上方。因此进度提升为55%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于杯托的前上方。\n为完成抓取杯子落入杯托的任务应当：向爪夹方向的正后方微调，直至杯托的正上方后将杯子放入杯托。",
+            "time": 9.59594476597938
+        },
+        {
+            "action_description": "爪夹夹紧杯子继续向爪夹方向的右侧移动并下降。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.20444444444444443,
+                            "id": "bbox_1767509920797_1767514261744_3pnqt0nk5",
+                            "width": 0.071,
+                            "x": 0.716,
+                            "y": 0.26666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.07466666666666666,
+                            "id": "bbox_1767509925932_1767514256657_qpbj0okl2",
+                            "width": 0.07299999999999995,
+                            "x": 0.7030000000000001,
+                            "y": 0.4657777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514251856_k1l1el7eu",
+                            "x": 0.771,
+                            "y": 0.34488888888888886
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "夹紧杯子重新抬起，向爪夹方向的左侧移动，直至杯托的正上方后将杯子放入杯托。松开爪夹，使杯子落入杯托",
+            "error_success_analysis": "爪夹没有按照原定方向下降，而是继续向爪夹方向的右侧移动，导致杯子远离了杯托的正上方。",
+            "frame": 345,
+            "progress": 30,
+            "progress_explanation": "爪夹合拢夹紧杯子，落在杯托的右侧，远离了杯托的正上方，因此进度降至为30%。",
+            "state_description": "爪夹合拢夹紧杯子，落在杯托的右侧。\n为完成抓取杯子落入杯托的任务应当：夹紧杯子重新抬起，向爪夹方向的左侧移动，直至杯托的正上方。",
+            "time": 11.512508289690722
+        },
+        {
+            "action_description": "爪夹打开，杯子落在桌面上。",
+            "annotations": {
+                "bbox_1767509920797": {
+                    "instances": [
+                        {
+                            "height": 0.1866666666666666,
+                            "id": "bbox_1767509920797_1767514230112_mupduz21n",
+                            "width": 0.0750000000000001,
+                            "x": 0.715,
+                            "y": 0.27911111111111114
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767509925932": {
+                    "instances": [
+                        {
+                            "height": 0.08533333333333333,
+                            "id": "bbox_1767509925932_1767514239792_2zztqrtqc",
+                            "width": 0.08499999999999996,
+                            "x": 0.6990000000000001,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767509931789": {
+                    "instances": [
+                        {
+                            "id": "point_1767509931789_1767514219136_24o0gdn17",
+                            "x": 0.751,
+                            "y": 0.30577777777777776
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767509938853": {
+                    "instances": [
+                        {
+                            "id": "point_1767509938853_1767514224136_v041tptzx",
+                            "x": 0.788,
+                            "y": 0.3217777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的右侧移动，直至杯托的正上方后将杯子放入杯托，松开爪夹，使杯子落入杯托。",
+            "error_success_analysis": "爪夹打开处于杯子的正上方，杯子落在桌面上，需重新夹起杯子",
+            "frame": 382,
+            "progress": 20,
+            "progress_explanation": "爪夹打开，杯子落在桌面上，需重新夹起杯子，因此进度降至为20%。",
+            "state_description": "爪夹打开，角度垂直于桌面，处于杯子的正上方。\n为完成抓取杯子落入杯托的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至杯托的正上方",
+            "time": 12.733333
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767509920797",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767509925932",
+            "name": "杯托"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767509931789",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767509938853",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003200.json

@@ -0,0 +1,372 @@
+{
+    "task_description": "抓取杯子放在直尺上：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近直尺：60%\n爪夹将杯子放在直尺上：80%\n爪夹松开杯子落在直尺上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.21688888888888885,
+                            "id": "bbox_1767515332672_1767515809215_k2kdxhzjr",
+                            "width": 0.11699999999999999,
+                            "x": 0.43100000000000005,
+                            "y": 0.40177777777777784
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.552888888888889,
+                            "id": "bbox_1767515338663_1767515813287_q4fo7ru64",
+                            "width": 0.09700000000000002,
+                            "x": 0.33,
+                            "y": 0.43022222222222223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767515343807": {
+                    "instances": [
+                        {
+                            "id": "point_1767515343807_1767515817135_sk9e8h5rn",
+                            "x": 0.636,
+                            "y": 0.017777777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "",
+            "frame": 62,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子落在直尺上的任务应当：爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 2.052933
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.2222222222222222,
+                            "id": "bbox_1767515332672_1767515830015_gajm9u2z4",
+                            "width": 0.125,
+                            "x": 0.426,
+                            "y": 0.4053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5493333333333333,
+                            "id": "bbox_1767515338663_1767515834151_fyfv2zrw3",
+                            "width": 0.10800000000000005,
+                            "x": 0.323,
+                            "y": 0.42844444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767515343807": {
+                    "instances": [
+                        {
+                            "id": "point_1767515343807_1767515822447_zmabv85cb",
+                            "x": 0.526,
+                            "y": 0.208
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767515351583": {
+                    "instances": [
+                        {
+                            "id": "point_1767515351583_1767515825743_1fws4jgsj",
+                            "x": 0.584,
+                            "y": 0.16
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方继续移动并下降，直至杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移���下降，爪夹角度接近垂直于桌面，水平上未接近杯子。",
+            "frame": 89,
+            "progress": 10,
+            "progress_explanation": "爪夹向爪夹方向的左前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为10%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离杯子。\n为完成抓取杯子落在直尺上的任务应当：爪夹向爪夹方向的左前方继续移动并下降，直至杯子的正上方。",
+            "time": 2.978533
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动并调整角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.21866666666666668,
+                            "id": "bbox_1767515332672_1767515840071_vzqmi88gr",
+                            "width": 0.08399999999999999,
+                            "x": 0.45,
+                            "y": 0.4
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5155555555555557,
+                            "id": "bbox_1767515338663_1767515852591_pauq0fxvq",
+                            "width": 0.09,
+                            "x": 0.33599999999999997,
+                            "y": 0.45155555555555554
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767515343807": {
+                    "instances": [
+                        {
+                            "id": "point_1767515343807_1767515842919_wz02d9h11",
+                            "x": 0.523,
+                            "y": 0.42666666666666664
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767515351583": {
+                    "instances": [
+                        {
+                            "id": "point_1767515351583_1767515845415_o8f2robtx",
+                            "x": 0.568,
+                            "y": 0.37333333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了杯子的距离，方便后续抓取杯子。",
+            "frame": 132,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了杯子。\n为完成抓取杯子落在直尺上的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至杯子的正上方。\n",
+            "time": 4.390666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.19022222222222226,
+                            "id": "bbox_1767515332672_1767515863479_hwttjvp1x",
+                            "width": 0.083,
+                            "x": 0.44800000000000006,
+                            "y": 0.4231111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5368888888888889,
+                            "id": "bbox_1767515338663_1767515859295_8okzqkpoy",
+                            "width": 0.09599999999999995,
+                            "x": 0.33,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767515343807": {
+                    "instances": [
+                        {
+                            "id": "point_1767515343807_1767515866391_xkgn6f4bl",
+                            "x": 0.479,
+                            "y": 0.4977777777777778
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767515351583": {
+                    "instances": [
+                        {
+                            "id": "point_1767515351583_1767515869158_65d4py1kg",
+                            "x": 0.532,
+                            "y": 0.4408888888888889
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹垂直向下移动，处于杯子的正上方，方便抓取。",
+            "frame": 201,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于杯子的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于杯子的正上方，准备抓取杯子。\n为完成抓取杯子落在直尺上的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方",
+            "time": 6.6928
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.16888888888888884,
+                            "id": "bbox_1767515332672_1767515882495_whcvq35e5",
+                            "width": 0.10400000000000001,
+                            "x": 0.442,
+                            "y": 0.42844444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5475555555555556,
+                            "id": "bbox_1767515338663_1767515877991_z52zgdxtg",
+                            "width": 0.09300000000000001,
+                            "x": 0.33,
+                            "y": 0.42844444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到杯子。",
+            "frame": 255,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落在直尺上的任务应当：抓紧杯子垂直升高，爪夹并向爪夹方向左侧的直尺接近。",
+            "time": 8.496533
+        },
+        {
+            "action_description": "爪夹夹着杯子转了半圈后，杯子脱落爪夹",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.19555555555555557,
+                            "id": "bbox_1767515332672_1767515889439_t0vi350uh",
+                            "width": 0.09500000000000001,
+                            "x": 0.492,
+                            "y": 0.4195555555555555
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5333333333333333,
+                            "id": "bbox_1767515338663_1767515894975_3ma82tdq6",
+                            "width": 0.10800000000000001,
+                            "x": 0.328,
+                            "y": 0.4444444444444444
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "重新打开爪夹调整至杯子的正上方，爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹合拢抓取杯子后应垂直升高，但夹住后杯子脱落爪夹",
+            "frame": 319,
+            "progress": 5,
+            "progress_explanation": "爪夹合拢抓取杯子后应垂直升高，但夹住后杯子脱落爪夹，因此进度降低为5%。",
+            "state_description": "爪夹合拢，处于杯子的上方。\n为完成抓取杯子落在直尺上的任务应当：重新打开爪夹调整至杯子的正上方，爪夹合拢抓取杯子。",
+            "time": 10.632533
+        },
+        {
+            "action_description": "爪夹打开并抬起。",
+            "annotations": {
+                "bbox_1767515332672": {
+                    "instances": [
+                        {
+                            "height": 0.20444444444444443,
+                            "id": "bbox_1767515332672_1767515912295_pzo294d6a",
+                            "width": 0.1,
+                            "x": 0.484,
+                            "y": 0.4071111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767515338663": {
+                    "instances": [
+                        {
+                            "height": 0.5404444444444445,
+                            "id": "bbox_1767515338663_1767515917112_bijzkbykm",
+                            "width": 0.09100000000000001,
+                            "x": 0.332,
+                            "y": 0.4355555555555556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767515343807": {
+                    "instances": [
+                        {
+                            "id": "point_1767515343807_1767515904503_dizz7d231",
+                            "x": 0.49400000000000005,
+                            "y": 0.46222222222222226
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767515351583": {
+                    "instances": [
+                        {
+                            "id": "point_1767515351583_1767515907503_32d57i44v",
+                            "x": 0.564,
+                            "y": 0.4
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方后将杯子放在直尺上，松开爪夹，使杯子落在直尺上。",
+            "error_success_analysis": "爪夹角度与桌面垂直，处于杯子的正上方，方便抓取。",
+            "frame": 356,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，处于杯子的正上方，方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹打开角度垂直于桌面，处于杯子的正上方\n为完成抓取杯子落在直尺上的任务应当：爪夹下降合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的左侧移动，直至直尺的正上方",
+            "time": 11.866667
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767515332672",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767515338663",
+            "name": "直尺"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767515343807",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767515351583",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003285.json

@@ -0,0 +1,514 @@
+{
+    "task_description": "抓取碗放在纸巾盒上：\n准备开始移动：0%\n爪夹靠近碗：20%\n爪夹抓取碗：40%\n爪夹抓紧碗接近纸巾盒：60%\n爪夹将碗放在纸巾盒上：80%\n爪夹松开碗落在纸巾盒上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "correction_plan": "爪夹向爪夹方向的正前方移动，调整爪夹的角度使其垂直于桌面，并移动到碗的正上方。接着落下爪夹靠近碗，接近碗后爪夹合拢抓取碗。抓紧碗垂直升高爪夹并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "",
+            "frame": 23,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离碗，未开始移动。\n为完成抓取碗落在纸巾盒上的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直与桌面，并移动到碗的正上方。",
+            "time": 0.7544,
+            "annotations": {
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666576108_424fkst9p",
+                            "x": 0.4296665997517944,
+                            "y": 0.37503702799479166
+                        }
+                    ]
+                },
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666578892_jc75hb1or",
+                            "x": 0.45166659840902107,
+                            "y": 0.3477777642144097
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666583596_jir5ns7bs",
+                            "x": 0.5336665934041386,
+                            "y": 0.5628888753255209,
+                            "width": 0.06799999584960963,
+                            "height": 0.10311111111111113
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666587892_t3f7eof6i",
+                            "x": 0.46566659755452894,
+                            "y": 0.48999998643663195,
+                            "width": 0.0989999939575199,
+                            "height": 0.10488888888888886
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动下降，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹方向的正前方继续移动并下降，直至碗的正上方。接着落下爪夹靠近碗，接近碗后爪夹合拢抓取碗。抓紧碗垂直升高爪夹并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹向爪夹方向的正前方移动下降，爪夹角度接近垂直于桌面，水平上未接近碗。",
+            "frame": 46,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的正前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离碗。\n为完成抓取碗落在纸巾盒上的任务应当：爪夹向爪夹方向的正前方继续移动并下降，直至碗的正上方。",
+            "time": 1.533399,
+            "annotations": {
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666593228_p0i9w0ypa",
+                            "x": 0.4556665981648805,
+                            "y": 0.4775555419921875,
+                            "width": 0.1009999938354496,
+                            "height": 0.11733333333333328
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666597180_6h3wlrlhb",
+                            "x": 0.5216665941365604,
+                            "y": 0.5628888753255209,
+                            "width": 0.08499999481201197,
+                            "height": 0.1137777777777778
+                        }
+                    ]
+                },
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666600260_bgx651ruh",
+                            "x": 0.4956665957234743,
+                            "y": 0.46511109754774305
+                        }
+                    ]
+                },
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666604348_ulqrdnpkh",
+                            "x": 0.5216665941365604,
+                            "y": 0.4473333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并调整角度垂直于桌面。",
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至碗的正上方。接着落下爪夹靠近碗，接近碗后爪夹合拢抓取碗。抓紧碗垂直升高爪夹并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了碗的距离，方便后续抓取碗。",
+            "frame": 68,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了碗，更加方便抓取。因此进度提升为15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了碗。\n为完成抓取碗落在纸巾盒上的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至碗的正上方。\n",
+            "time": 2.2632,
+            "annotations": {
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666611508_zr9cpsxho",
+                            "x": 0.5446665927327519,
+                            "y": 0.5397777642144098
+                        }
+                    ]
+                },
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666614827_6hjg6hdh1",
+                            "x": 0.5156665945027713,
+                            "y": 0.5362222086588542
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666620420_5bgcg1qdq",
+                            "x": 0.46466659761556406,
+                            "y": 0.46511109754774305,
+                            "width": 0.09699999407959022,
+                            "height": 0.14400000000000002
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666625404_9vrtaxin1",
+                            "x": 0.5226665940755252,
+                            "y": 0.5717777642144097,
+                            "width": 0.08999999450683624,
+                            "height": 0.08355555555555559
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "correction_plan": "爪夹合拢抓取碗，抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹垂直向下移动，处于碗的正上方，方便抓取。",
+            "frame": 80,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于碗的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于碗的正上方，准备抓取碗。\n为完成抓取碗落在纸巾盒上的任务应当：爪夹合拢抓取碗，抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方",
+            "time": 2.6814,
+            "annotations": {
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666631548_fdszxao6f",
+                            "x": 0.5296665936482792,
+                            "y": 0.6055555419921875
+                        }
+                    ]
+                },
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666635156_mz3lauyuh",
+                            "x": 0.5626665916341191,
+                            "y": 0.5966666531032986
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666640020_b73ginn1c",
+                            "x": 0.5196665942586307,
+                            "y": 0.569999986436632,
+                            "width": 0.08799999462890655,
+                            "height": 0.1013333333333333
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666644540_4t058vh8g",
+                            "x": 0.45966659792073983,
+                            "y": 0.47222220865885417,
+                            "width": 0.11899999273681683,
+                            "height": 0.13511111111111115
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到碗。",
+            "frame": 101,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到碗，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到碗，爪夹角度与桌面接近垂直。\n为完成抓取碗落在纸巾盒上的任务应当：抓紧碗垂直升高，爪夹并向爪夹方向左侧的纸巾盒接近。",
+            "time": 3.3786248729823867,
+            "annotations": {
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666651684_x8ztzel4w",
+                            "x": 0.5526665922444707,
+                            "y": 0.6002222086588542
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666655772_kmbfxtw71",
+                            "x": 0.5216665941365604,
+                            "y": 0.5628888753255209,
+                            "width": 0.08699999468994166,
+                            "height": 0.1013333333333333
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666660835_nk0cbuv1f",
+                            "x": 0.46166659779866953,
+                            "y": 0.48466665310329865,
+                            "width": 0.10999999328613316,
+                            "height": 0.12088888888888884
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧碗垂直升高，离开桌面。",
+            "correction_plan": "继续向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹合拢夹紧碗，水平上接近了纸巾盒，更加方便接近纸巾盒。",
+            "frame": 132,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧碗，垂直升高并向爪夹左侧的纸巾盒接近，缩短了与纸巾盒的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧碗，水平上接近了纸巾盒。\n为完成抓取碗落在纸巾盒上的任务应当：继续向爪夹左侧的纸巾盒接近，直至纸巾盒的正上方后将碗放纸巾盒上。",
+            "time": 4.4034,
+            "annotations": {
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666665700_atu94ugbv",
+                            "x": 0.5356665932820682,
+                            "y": 0.5522222086588542
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666669780_f2ewk9zh5",
+                            "x": 0.5186665943196658,
+                            "y": 0.5059999864366319,
+                            "width": 0.07099999566650421,
+                            "height": 0.11200000000000006
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666674748_s30zmggef",
+                            "x": 0.46466659761556406,
+                            "y": 0.48644443088107636,
+                            "width": 0.09399999426269572,
+                            "height": 0.10666666666666669
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧碗向爪夹方向的前方移动，放在桌面上。\n",
+            "correction_plan": "抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹垂直升高后没有向左侧的纸巾盒正上方移动，而是夹着碗向前方移动后把碗放回了桌面。",
+            "frame": 179,
+            "progress": 40,
+            "progress_explanation": "爪夹垂直升高后又把碗放回桌面，因此进度降至为40%。",
+            "state_description": "爪夹夹着碗，爪夹角度与桌面接近垂直。\n为完成抓取碗落在纸巾盒上的任务应当：抓紧碗垂直升高，爪夹并向爪夹方向左侧的纸巾盒接近。",
+            "time": 5.982336049355666,
+            "annotations": {
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666695828_dht540rft",
+                            "x": 0.569666591206873,
+                            "y": 0.5670370279947916
+                        }
+                    ]
+                },
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666698900_13kndc692",
+                            "x": 0.563666591573084,
+                            "y": 0.5646666531032986
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666703212_058u4xq3f",
+                            "x": 0.46466659761556406,
+                            "y": 0.473999986436632,
+                            "width": 0.09499999420166053,
+                            "height": 0.1244444444444444
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666707764_yprt0ju4w",
+                            "x": 0.5486665924886113,
+                            "y": 0.5397777642144098,
+                            "width": 0.08399999487304717,
+                            "height": 0.07999999999999995
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "爪夹垂直下降合拢抓取碗，抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "与上一步相比，爪夹没有夹着碗垂直升高，而是打开爪夹，碗回到桌面。",
+            "frame": 196,
+            "progress": 20,
+            "progress_explanation": "爪夹张开角度垂直于桌面，处于碗的正上方，因此进度降至为20%",
+            "state_description": "爪夹角度垂直于桌面，处于碗的正上方\n为完成抓取碗落在纸巾盒上的任务应当：爪夹垂直下降合拢抓取碗，抓紧碗垂直升高并向爪夹方向的左侧移动，直至纸巾盒的正上方",
+            "time": 6.5354,
+            "annotations": {
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666712596_d3buw04rv",
+                            "x": 0.5526665922444707,
+                            "y": 0.5557777642144097
+                        }
+                    ]
+                },
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666719683_azitq5tj0",
+                            "x": 0.5776665907185918,
+                            "y": 0.5451110975477431
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666724372_4eggfil9j",
+                            "x": 0.45666659810384524,
+                            "y": 0.47222220865885417,
+                            "width": 0.10899999334716837,
+                            "height": 0.12800000000000003
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666729244_zp0agu6g4",
+                            "x": 0.5616665916951542,
+                            "y": 0.5379999864366319,
+                            "width": 0.06099999627685575,
+                            "height": 0.08533333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向上抬升。",
+            "correction_plan": "爪夹向爪夹方向的正前方移动，调整爪夹的角度使其垂直于桌面，并移动到碗的正上方。接着落下爪夹靠近碗，接近碗后爪夹合拢抓取碗。抓紧碗垂直升高爪夹并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。",
+            "error_success_analysis": "爪夹向上抬升，远离碗，重新移动抓取。",
+            "frame": 246,
+            "progress": 0,
+            "progress_explanation": "爪夹回到初始状态，重新开始移动。因此进度降至为0%。",
+            "state_description": "爪夹张开，远离碗，重新移动抓取。\n为完成抓取碗落在纸巾盒上的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直与桌面，并移动到碗的正上方。",
+            "time": 8.2,
+            "annotations": {
+                "point_1767604391735": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604391735_1767666739035_qjbnegovd",
+                            "x": 0.5096665948689822,
+                            "y": 0.41355554199218747
+                        }
+                    ]
+                },
+                "point_1767604401656": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767604401656_1767666743404_dukio5m4g",
+                            "x": 0.543666592793787,
+                            "y": 0.40999998643663194
+                        }
+                    ]
+                },
+                "bbox_1767604386231": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604386231_1767666748212_c2abin0x0",
+                            "x": 0.46466659761556406,
+                            "y": 0.48999998643663195,
+                            "width": 0.09299999432373082,
+                            "height": 0.10666666666666669
+                        }
+                    ]
+                },
+                "bbox_1767604381359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767604381359_1767666753980_xxha0zh8b",
+                            "x": 0.5626665916341191,
+                            "y": 0.5433333197699654,
+                            "width": 0.055999996582031475,
+                            "height": 0.08711111111111107
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767604381359",
+            "name": "碗"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767604386231",
+            "name": "纸巾盒"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767604391735",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767604401656",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003392.json

@@ -0,0 +1,672 @@
+{
+    "task_description": "抓取杯子放在红色盘子上：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近红色盘子：60%\n爪夹将杯子放在红色盘子上：80%\n爪夹松开杯子落在红色盘子上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "correction_plan": "爪夹垂直下降保持桌面与垂直，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "",
+            "frame": 52,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹垂直下降保持桌面垂直，并移动到杯子的正上方。",
+            "time": 1.745799,
+            "annotations": {
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671804687_gpj48m7n7",
+                            "x": 0.3446666049397824,
+                            "y": 0.01770369466145833
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671811271_cci83ysz0",
+                            "x": 0.281666608784997,
+                            "y": 0.2233333197699653,
+                            "width": 0.05999999633789081,
+                            "height": 0.1191111111111111
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671815135_v98nzuljz",
+                            "x": 0.3596666040242551,
+                            "y": 0.2375555419921875,
+                            "width": 0.10699999346923864,
+                            "height": 0.10311111111111108
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正下方移动，保持爪夹垂直于桌面",
+            "correction_plan": "爪夹垂直下降保持桌面垂直，直至杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便抓取。",
+            "frame": 71,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的正下方移动，爪夹角度垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开垂直于桌面，爪夹远离杯子。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹垂直下降保持桌面垂直，直至杯子的正上方。",
+            "time": 2.368333,
+            "annotations": {
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671821727_0bv0g3yol",
+                            "x": 0.34966660463460664,
+                            "y": 0.22688887532552085,
+                            "width": 0.11599999291992229,
+                            "height": 0.11555555555555554
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671825391_5tfsc0pq6",
+                            "x": 0.2826666087239619,
+                            "y": 0.22511109754774306,
+                            "width": 0.07399999548339871,
+                            "height": 0.12444444444444444
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671829631_ewu6d1sln",
+                            "x": 0.2966666078694697,
+                            "y": 0.12911109754774305
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671833519_up8g9tapj",
+                            "x": 0.3466666048177121,
+                            "y": 0.1504444308810764
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续垂直下降并保持角度垂直于桌面。",
+            "correction_plan": "爪夹继续垂直下降，直至杯子的正上方，接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取",
+            "frame": 100,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了杯子。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹继续垂直下降，直至杯子的正上方，接着落下爪夹靠近杯子。",
+            "time": 3.342733,
+            "annotations": {
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671838719_gsckr0biw",
+                            "x": 0.3616666039021848,
+                            "y": 0.22688887532552085
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671841927_n0l26e8gr",
+                            "x": 0.3086666071370479,
+                            "y": 0.20911109754774304
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671847215_4ds1sf9mq",
+                            "x": 0.28966660829671576,
+                            "y": 0.23577776421440974,
+                            "width": 0.05299999676513689,
+                            "height": 0.10488888888888886
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671851647_50dhds7nu",
+                            "x": 0.35466660432943087,
+                            "y": 0.24644443088107643,
+                            "width": 0.11699999285888714,
+                            "height": 0.09244444444444441
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹垂直下降",
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹垂直向下移动，处于杯子的正上方，方便抓取。",
+            "frame": 138,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于杯子的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于杯子的正上方，准备抓取杯子。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的正前方移动，直至红色盘子的正上方",
+            "time": 4.614866,
+            "annotations": {
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671858455_37ivp57th",
+                            "x": 0.34966660463460664,
+                            "y": 0.24111109754774307,
+                            "width": 0.12199999255371137,
+                            "height": 0.09244444444444445
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671862887_cz0ixiaou",
+                            "x": 0.29266660811361034,
+                            "y": 0.24999998643663193,
+                            "width": 0.050999996887207244,
+                            "height": 0.08177777777777781
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671865911_jhqmawfo1",
+                            "x": 0.31166660695394244,
+                            "y": 0.27666665310329863
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671868863_lq4uj0xlw",
+                            "x": 0.34966660463460664,
+                            "y": 0.25888887532552085
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧杯子垂直升高并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到杯子。",
+            "frame": 160,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落在红色盘子上的任务应当：抓紧杯子垂直升高爪夹并向爪夹方向的正前方的红色盘子接近。",
+            "time": 5.318599,
+            "annotations": {
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671874822_kdne3hcn7",
+                            "x": 0.3396666052449581,
+                            "y": 0.29799998643663195
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671878239_ye4v7rpjd",
+                            "x": 0.32766660597737995,
+                            "y": 0.2962222086588542
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671881911_fqmqo57lr",
+                            "x": 0.29166660817464546,
+                            "y": 0.2375555419921875,
+                            "width": 0.052999996765136934,
+                            "height": 0.10666666666666665
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671885071_lpdcjwe79",
+                            "x": 0.35366660439046604,
+                            "y": 0.24111109754774307,
+                            "width": 0.12299999249267626,
+                            "height": 0.10311111111111108
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧杯子垂直升高，离开桌面。",
+            "correction_plan": "继续向爪夹正前方的红色盘子移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹合拢夹紧杯子，水平上接近了红色盘子，更加方便接近红色盘子。",
+            "frame": 185,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹正前方的红色盘子接近，缩短了与红色盘子的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了红色盘子。\n为完成抓取杯子落在红色盘子上的任务应当：继续向爪夹正前方的红色盘子接近，直至红色盘子的正上方后将杯子放入红色盘子。",
+            "time": 6.1620836579624045,
+            "annotations": {
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671892047_h4u6cy58j",
+                            "x": 0.35666660420736057,
+                            "y": 0.2399259168836806,
+                            "width": 0.10999999328613316,
+                            "height": 0.09244444444444445
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671895495_p3zt234rx",
+                            "x": 0.31366660683187214,
+                            "y": 0.11488887532552083,
+                            "width": 0.05999999633789081,
+                            "height": 0.10844444444444444
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671898590_jskgmxznn",
+                            "x": 0.3556666042683957,
+                            "y": 0.18955554199218752
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671902462_esomb2fwx",
+                            "x": 0.36566660365804415,
+                            "y": 0.18599998643663196
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹方向的正前方移动",
+            "correction_plan": "将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "到了爪夹正前方的红色盘子正上方，方便将杯子放入红色盘子。",
+            "frame": 212,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧杯子，到了爪夹正前方的红色盘子正上方，方便将杯子放入红色盘子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于红色盘子的正上方。\n为完成抓取杯子落在红色盘子上的任务应当：将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "time": 7.064399,
+            "annotations": {
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671906974_q9lzp8130",
+                            "x": 0.4176666004842162,
+                            "y": 0.1006666531032986
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671910303_ypuvdq2ui",
+                            "x": 0.4046666012776733,
+                            "y": 0.1006666531032986
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671914607_ks0vs7kg9",
+                            "x": 0.3576666041463254,
+                            "y": 0.027777764214409726,
+                            "width": 0.07499999542236355,
+                            "height": 0.12266666666666666
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671918743_vm6jf0jjt",
+                            "x": 0.3486666046956418,
+                            "y": 0.2375555419921875,
+                            "width": 0.1259999923095708,
+                            "height": 0.10666666666666665
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续向爪夹正前方移动并下降",
+            "correction_plan": "向爪夹方向的正后方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹继续向爪夹正前方移动并下降，偏离了红色盘子的正上方",
+            "frame": 246,
+            "progress": 45,
+            "progress_explanation": "爪夹夹紧杯子偏离了红色盘子的正上方，处于红色盘子的右上空。因此进度降至为45%",
+            "state_description": "爪夹夹紧杯子，处于红色盘子的右上空。\n为完成抓取杯子落在红色盘子上的任务应当：向爪夹方向的正后方移动，直至红色盘子的正上方。",
+            "time": 8.214733,
+            "annotations": {
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671926335_mrrd14o87",
+                            "x": 0.3486666046956418,
+                            "y": 0.2393333197699653,
+                            "width": 0.12099999261474652,
+                            "height": 0.10844444444444443
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671929551_myzjt35qr",
+                            "x": 0.4366665993245483,
+                            "y": 0.1806666531032986,
+                            "width": 0.06699999591064473,
+                            "height": 0.11377777777777776
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671932686_sfhtxo0mj",
+                            "x": 0.48166659657796645,
+                            "y": 0.23577776421440974
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671936190_y0z5iid9j",
+                            "x": 0.4736665970662477,
+                            "y": 0.23577776421440974
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续下降，杯子回到桌面。",
+            "correction_plan": "抓紧杯子垂直升高，爪夹并向爪夹方向左侧的红色盘子接近，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹移动的位置偏离了红色盘子的正上方，没有纠正反而继续下降。",
+            "frame": 291,
+            "progress": 40,
+            "progress_explanation": "爪夹继续下降，杯子回到桌面，因此进度降至为40%。",
+            "state_description": "爪夹夹着杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落在红色盘子上的任务应当：抓紧杯子垂直升高，爪夹并向爪夹方向左侧的红色盘子接近，直至红色盘子的正上方。",
+            "time": 9.703399,
+            "annotations": {
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671940911_d6udz0w3r",
+                            "x": 0.4766665968831423,
+                            "y": 0.31399998643663196
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671943638_lopxfyc09",
+                            "x": 0.48566659633382586,
+                            "y": 0.32288887532552085
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671947423_sucuejqz0",
+                            "x": 0.3446666049397824,
+                            "y": 0.2393333197699653,
+                            "width": 0.11299999310302775,
+                            "height": 0.09066666666666667
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671950783_1twnepet2",
+                            "x": 0.4396665991414429,
+                            "y": 0.26422220865885415,
+                            "width": 0.06499999603271504,
+                            "height": 0.09955555555555556
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，杯子落在桌面上。",
+            "correction_plan": "夹合拢抓取杯子，抓紧杯子垂直升���并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "与上一步相比，没有纠正反而继续下降，爪夹张开杯子落在桌面。",
+            "frame": 315,
+            "progress": 20,
+            "progress_explanation": "爪夹张开角度垂直于桌面，杯子落在桌面上，爪夹处于杯子的正上方。因此进度降至为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于杯子的正上方\n为完成抓取杯子落在红色盘子上的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高并向爪夹方向的正前方移动，直至红色盘子的正上方",
+            "time": 10.501866,
+            "annotations": {
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671957255_c7jq0mj9b",
+                            "x": 0.44466659883626714,
+                            "y": 0.2577036946614583,
+                            "width": 0.05999999633789086,
+                            "height": 0.11733333333333332
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671961767_vhnizvyge",
+                            "x": 0.3576666041463254,
+                            "y": 0.24466665310329863,
+                            "width": 0.09799999401855505,
+                            "height": 0.09955555555555552
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671964599_lmacuw4n4",
+                            "x": 0.5136665946248417,
+                            "y": 0.2962222086588542
+                        }
+                    ]
+                },
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671967167_gm7jgh2le",
+                            "x": 0.48266659651693133,
+                            "y": 0.28199998643663193
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向上抬升。",
+            "correction_plan": "爪夹重新垂直下降，直至杯子的正上方，接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹向上抬升，远离了杯子",
+            "frame": 344,
+            "progress": 10,
+            "progress_explanation": "爪夹向上抬升，远离了杯子。因此进度降至为10%。",
+            "state_description": "爪夹张开，角度垂直于桌面，远离了杯子。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹重新垂直下降，直至杯子的正上方，接着落下爪夹靠近杯子。",
+            "time": 11.477753295650315,
+            "annotations": {
+                "point_1767667164515": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667164515_1767671973446_lrpdnlj10",
+                            "x": 0.4526665983479859,
+                            "y": 0.08999998643663194
+                        }
+                    ]
+                },
+                "point_1767667170868": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767667170868_1767671976879_t6m3jfhr1",
+                            "x": 0.4936665958455446,
+                            "y": 0.1095555419921875
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671981911_qruigtd6x",
+                            "x": 0.3486666046956418,
+                            "y": 0.2375555419921875,
+                            "width": 0.10899999334716837,
+                            "height": 0.09422222222222222
+                        }
+                    ]
+                },
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671985183_8ko0g4296",
+                            "x": 0.4346665994466187,
+                            "y": 0.2606666531032986,
+                            "width": 0.0749999954223636,
+                            "height": 0.10666666666666669
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续向上抬升。",
+            "correction_plan": "爪夹重新垂直下降保持与桌面垂直，并移动到杯子的正上方，接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。",
+            "error_success_analysis": "爪夹回到初始状态，远离了杯子，重新移动",
+            "frame": 406,
+            "progress": 0,
+            "progress_explanation": "爪夹回到初始状态，远离了杯子，重新移动。因此进度降至为0%。",
+            "state_description": "爪夹回到初始状态，杯子处于桌面上。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹重新垂直下降保持与桌面垂直，并移动到杯子的正上方，接着落下爪夹靠近杯子",
+            "time": 13.533333,
+            "annotations": {
+                "bbox_1767667149012": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667149012_1767671991295_21yof91aa",
+                            "x": 0.4416665990193726,
+                            "y": 0.25711109754774303,
+                            "width": 0.06199999621582046,
+                            "height": 0.10844444444444443
+                        }
+                    ]
+                },
+                "bbox_1767667155732": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767667155732_1767671995207_r829ryj8r",
+                            "x": 0.3556666042683957,
+                            "y": 0.23577776421440974,
+                            "width": 0.1129999931030277,
+                            "height": 0.11733333333333332
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767667149012",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767667155732",
+            "name": "红色盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767667164515",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767667170868",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003740.json

@@ -0,0 +1,105 @@
+{
+    "task_description": "按压闹钟顶部：\n准备开始移动：0%\n爪夹靠近闹钟：20%\n爪夹合拢：40%\n爪夹接近闹钟：60%\n爪夹按压闹钟顶部：80%\n爪夹张开回到待机位置：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "",
+            "frame": 20,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离闹钟，未开始移动。因此进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，远离闹钟，未开始移动。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。",
+            "time": 0.657333
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近闹钟。",
+            "frame": 37,
+            "progress": 5,
+            "progress_explanation": "抓夹向爪夹正前方移动，爪夹接近 垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近闹钟。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。",
+            "time": 1.237333
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动",
+            "correction_plan": "爪夹继续向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了闹钟和爪夹之间的距离，方便后续按压闹钟顶部。",
+            "frame": 59,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了闹钟，更加方便按压闹钟顶部。因此进度提升为15%",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了闹钟。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。",
+            "time": 1.9814937775928372
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动并准备垂直向下移动，调整爪夹的角度。",
+            "correction_plan": "爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹准备向下移动，靠近了闹钟，方便按压闹钟顶部。",
+            "frame": 80,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，接近了闹钟，方便按压闹钟顶部。因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，准备靠近闹钟。\n为完成按压闹钟顶部的任务应当：爪夹合拢并向闹钟顶部移动",
+            "time": 2.6502481826399795
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢按压闹钟顶部。",
+            "frame": 106,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢准备按压闹钟。因此进度提升为40%",
+            "state_description": "爪夹合拢准备按压闹钟顶部，爪夹角度与桌面接近垂直。\n为完成按压闹钟顶部的任务应当：爪夹向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟。",
+            "time": 3.5171520410344237
+        },
+        {
+            "action_description": "爪夹到达闹钟顶部",
+            "correction_plan": "爪夹向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹移动到了闹钟正上方，方便按压闹钟顶部。",
+            "frame": 121,
+            "progress": 60,
+            "progress_explanation": "爪夹合拢到达闹钟正上方，方便按压闹钟顶部。因此进度提升为60%",
+            "state_description": "爪夹合拢到达闹钟顶部，爪夹角度接近垂直于桌面，位于闹钟正上方。\n为完成按压闹钟顶部的任务应当：爪夹向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。",
+            "time": 4.037294356071089
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动。",
+            "correction_plan": "爪夹张开，垂直升高，回到待机位置。",
+            "error_success_analysis": "爪夹移动到了闹钟正上方并按压闹钟顶部。",
+            "frame": 147,
+            "progress": 80,
+            "progress_explanation": "爪夹调整角度并垂直向下移动，爪夹按压闹钟顶部。因此进度提升为80%",
+            "state_description": "爪夹调整角度并垂直向下移动，爪夹按压闹钟顶部。\n为完成按压闹钟顶部的任务应当：爪夹张开，垂直升高，回到待机位置。",
+            "time": 4.887466
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "爪夹按压闹钟顶部的任务完成。",
+            "error_success_analysis": "爪夹张开，垂直升高，回到待机位置。",
+            "frame": 188,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，垂直升高，回到待机位置。因此进度提升为100%",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹按压闹钟顶部的任务完成。",
+            "time": 6.266475706228231
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768790033640",
+            "name": "闹钟顶部",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768790058590",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768790058775",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003837.json

@@ -0,0 +1,135 @@
+{
+    "task_description": "爪夹关闭抽屉：\n准备开始移动：0%\n爪夹靠近抽屉：20%\n爪夹紧贴抽屉：40%\n爪夹推动抽屉向前移动：60%\n爪夹推动抽屉移动至关闭：80%\n爪夹松开抽屉合上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "",
+            "frame": 11,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离抽屉，未开始移动。因此进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，远离抽屉，未开始移动。\n为完成爪夹关闭抽屉的任务应当：爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。",
+            "time": 0.3520990225574529
+        },
+        {
+            "action_description": "爪夹向正前方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近抽屉。",
+            "frame": 29,
+            "progress": 10,
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便接近抽屉。因此进度提升为10%",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。",
+            "time": 0.9527396098669931
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度。",
+            "correction_plan": "紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了抽屉，方便紧贴抽屉。",
+            "frame": 39,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了抽屉，方便紧贴抽屉，因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了抽屉，准备紧贴抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动。",
+            "time": 1.2841275201067393
+        },
+        {
+            "action_description": "爪夹紧贴抽屉",
+            "correction_plan": "爪夹推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹推动抽屉。",
+            "frame": 56,
+            "progress": 40,
+            "progress_explanation": "爪夹紧贴抽屉，方便后续推动抽屉。因此进度提升为40%",
+            "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉向前移动。",
+            "time": 1.8640563630262954
+        },
+        {
+            "action_description": "爪夹紧贴抽屉，向爪夹前方移动。",
+            "correction_plan": "爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，向前推动抽屉。",
+            "frame": 73,
+            "progress": 60,
+            "progress_explanation": "爪夹紧贴抽屉，推动抽屉向前移动。因此进度提升为60%",
+            "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面，向前推动抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。",
+            "time": 2.4439852059458516
+        },
+        {
+            "action_description": "爪夹垂直升高，调整爪夹角度。",
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹垂直升高，需要重新调整爪夹的角度。",
+            "frame": 106,
+            "progress": 10,
+            "progress_explanation": "爪夹张开，垂直升高，重新调整爪夹的角度。因此进度降低为10%",
+            "state_description": "爪夹张开，垂直升高，重新调整爪夹的角度。\n为完成爪夹关闭抽屉的任务应当：调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。",
+            "time": 3.541707658615011
+        },
+        {
+            "action_description": "爪夹垂直向下移动，调整爪夹角度。",
+            "correction_plan": "紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了抽屉，方便紧贴抽屉。",
+            "frame": 130,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了抽屉，方便紧贴抽屉，因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了抽屉，准备紧贴抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动。",
+            "time": 4.328753945434409
+        },
+        {
+            "time": 4.78441232201406,
+            "frame": 144,
+            "progress": 40,
+            "action_description": "爪夹重新紧贴抽屉",
+            "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉向前移动。",
+            "progress_explanation": "爪夹紧贴抽屉，方便爪夹继续推动抽屉。因此进度提升为40%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹推动抽屉。",
+            "correction_plan": "爪夹推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。"
+        },
+        {
+            "action_description": "爪夹紧贴抽屉，向爪夹前方移动。",
+            "correction_plan": "爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，向前推动抽屉。",
+            "frame": 151,
+            "progress": 60,
+            "progress_explanation": "爪夹紧贴抽屉，推动抽屉向前移动。因此进度提升为60%",
+            "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面，向前推动抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。",
+            "time": 5.03295325469387
+        },
+        {
+            "action_description": "爪夹继续推动抽屉",
+            "correction_plan": "松开爪夹，抽屉关闭。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹继续推动抽屉向前移动。",
+            "frame": 164,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹继续推动抽屉向前移动。因此进度提升为80%",
+            "state_description": "爪夹推动抽屉至合适位置。\n为完成爪夹关闭抽屉的任务应当：松开爪夹，抽屉关闭。",
+            "time": 5.477266
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "爪夹关闭抽屉的任务完成。",
+            "error_success_analysis": "爪夹张开，抽屉关闭，任务完成。",
+            "frame": 194,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，抽屉关闭，任务完成。因此进度提升为100%",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹关闭抽屉的任务完成。",
+            "time": 6.466667
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768804606897",
+            "name": "抽屉",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768804620584",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768804620768",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003847.json

@@ -0,0 +1,428 @@
+{
+    "task_description": "抓取杯子放入碗里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近碗：60%\n爪夹将杯子放入碗：80%\n爪夹松开杯子落入碗：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.08711111111111107,
+                            "id": "bbox_1767075112421_1767075399805_816auhhlp",
+                            "width": 0.051999999999999956,
+                            "x": 0.512,
+                            "y": 0.42844444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.15466666666666667,
+                            "id": "bbox_1767075119205_1767075407757_e66fb4khm",
+                            "width": 0.121,
+                            "x": 0.45,
+                            "y": 0.4782222222222222
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767075416117_quh2p7r7o",
+                            "x": 0.679,
+                            "y": 0.3324444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "",
+            "frame": 28,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子落入碗的任务应当：爪夹向爪夹方向的前方移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 0.944666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，调整爪夹角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.09066666666666663,
+                            "id": "bbox_1767075112421_1767076172877_9x64fdvtg",
+                            "width": 0.046,
+                            "x": 0.518,
+                            "y": 0.42844444444444446
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.14577777777777776,
+                            "id": "bbox_1767075119205_1767076161276_j7nz1taao",
+                            "width": 0.1129999999999999,
+                            "x": 0.4580000000000001,
+                            "y": 0.4906666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767076153404_xmjk0s7a0",
+                            "x": 0.552,
+                            "y": 0.4124444444444444
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767075136645": {
+                    "instances": [
+                        {
+                            "id": "point_1767075136645_1767076156372_hc1h50pj3",
+                            "x": 0.579,
+                            "y": 0.3804444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "爪夹角度与桌面垂直，水平上接近了杯子，方便抓取",
+            "frame": 52,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，方便抓取。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近杯子。\n为完成抓取杯子落入碗的任务应当：调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。",
+            "time": 1.736733
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动并垂直下降",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.10666666666666669,
+                            "id": "bbox_1767075112421_1767077088483_iy4by0nnc",
+                            "width": 0.05,
+                            "x": 0.514,
+                            "y": 0.42133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.1475555555555555,
+                            "id": "bbox_1767075119205_1767077092611_c80h2jy0g",
+                            "width": 0.11099999999999995,
+                            "x": 0.4590000000000001,
+                            "y": 0.48177777777777786
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077083891_n6xc9j9r3",
+                            "x": 0.499,
+                            "y": 0.47644444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767075136645": {
+                    "instances": [
+                        {
+                            "id": "point_1767075136645_1767077080299_he2eaml92",
+                            "x": 0.531,
+                            "y": 0.45155555555555554
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续下降，合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "爪夹角度垂直于桌面，处于杯子的正上方。方便抓取。",
+            "frame": 82,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于杯子的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于杯子的正上方，准备抓取杯子。\n为完成抓取杯子落入碗的任务应当：爪夹继续下降，合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹左侧的碗接近。",
+            "time": 2.739533
+        },
+        {
+            "action_description": "爪夹下降，爪夹合拢。",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.10666666666666669,
+                            "id": "bbox_1767075112421_1767077119236_vg171q2re",
+                            "width": 0.052000000000000046,
+                            "x": 0.504,
+                            "y": 0.43377777777777776
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.1671111111111111,
+                            "id": "bbox_1767075119205_1767077114828_e0hi1co5o",
+                            "width": 0.10999999999999996,
+                            "x": 0.458,
+                            "y": 0.48355555555555557
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077110091_4n9nhlx2g",
+                            "x": 0.512,
+                            "y": 0.48533333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到杯子。",
+            "frame": 113,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落入碗的任务应当：抓紧杯子垂直升高爪夹并向爪夹左侧的碗接近。",
+            "time": 3.764133
+        },
+        {
+            "action_description": "爪夹夹紧杯子垂直升高，离开桌面向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.13688888888888892,
+                            "id": "bbox_1767075112421_1767077148779_stbv4tktn",
+                            "width": 0.05599999999999996,
+                            "x": 0.48200000000000004,
+                            "y": 0.29866666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.16533333333333336,
+                            "id": "bbox_1767075119205_1767077153587_921c42bhl",
+                            "width": 0.11200000000000002,
+                            "x": 0.45499999999999996,
+                            "y": 0.4782222222222222
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077142915_4pqz910n6",
+                            "x": 0.496,
+                            "y": 0.352
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了碗。更加方便接近碗。",
+            "frame": 145,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹左侧的碗接近，缩短了与碗的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了碗。\n为完成抓取杯子落入碗的任务应当：继续向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗。",
+            "time": 4.8469418030927836
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹方向的左侧移动\n",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.1368888888888889,
+                            "id": "bbox_1767075112421_1767077170291_ypjsg5xjo",
+                            "width": 0.071,
+                            "x": 0.483,
+                            "y": 0.3697777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.17600000000000005,
+                            "id": "bbox_1767075119205_1767077173476_cse6hvxx7",
+                            "width": 0.125,
+                            "x": 0.45099999999999996,
+                            "y": 0.4711111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077165379_1w38mp9cl",
+                            "x": 0.503,
+                            "y": 0.43377777777777776
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "到了爪夹左侧的碗的正上方，方便将杯子放入碗。",
+            "frame": 161,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧杯子，到了爪夹左侧的碗的正上方，方便将杯子放入碗。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取杯子落入碗的任务应当：将杯子放入碗，松开爪夹，使杯子落入碗。",
+            "time": 5.377333
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.09422222222222226,
+                            "id": "bbox_1767075112421_1767077183795_06dneujqr",
+                            "width": 0.054000000000000006,
+                            "x": 0.5,
+                            "y": 0.5048888888888888
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.17066666666666666,
+                            "id": "bbox_1767075119205_1767077187604_o454w1rra",
+                            "width": 0.13900000000000007,
+                            "x": 0.43899999999999995,
+                            "y": 0.48000000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077179139_662sbmqrl",
+                            "x": 0.508,
+                            "y": 0.5582222222222223
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使杯子落入碗。",
+            "error_success_analysis": "杯子放进碗，方便杯子落入碗。",
+            "frame": 185,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，杯子放进碗。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，杯子放进碗。\n为完成抓取杯子落入碗的任务应当：松开爪夹，使杯子落入碗。",
+            "time": 6.172921245360825
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767075112421": {
+                    "instances": [
+                        {
+                            "height": 0.096,
+                            "id": "bbox_1767075112421_1767077214955_4ghzn35nt",
+                            "width": 0.05899999999999998,
+                            "x": 0.492,
+                            "y": 0.5013333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767075119205": {
+                    "instances": [
+                        {
+                            "height": 0.1724444444444444,
+                            "id": "bbox_1767075119205_1767077218348_laodsry9s",
+                            "width": 0.13100000000000006,
+                            "x": 0.45499999999999996,
+                            "y": 0.47644444444444445
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767075126725": {
+                    "instances": [
+                        {
+                            "id": "point_1767075126725_1767077206459_ojwemisom",
+                            "x": 0.491,
+                            "y": 0.5066666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767075136645": {
+                    "instances": [
+                        {
+                            "id": "point_1767075136645_1767077210643_lrgxjmj2s",
+                            "x": 0.507,
+                            "y": 0.49244444444444446
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，杯子落入碗。",
+            "frame": 199,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，杯子落入碗，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子落入碗里的任务目标完成。",
+            "time": 6.622405802061856
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767075112421",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767075119205",
+            "name": "碗"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767075126725",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767075136645",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003067.json

@@ -0,0 +1,105 @@
+{
+    "task_description": "抓紧柜门打开：\n准备开始移动：0%\n爪夹靠近柜门：20%\n爪夹抓紧柜门：40%\n爪夹抓紧柜门打开：60%\n爪夹将柜门打开：80%\n爪夹松开柜门打开：100%",
+    "progress_points": [
+        {
+            "time": 0.984666,
+            "frame": 30,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动",
+            "state_description": "当前为初始状态，爪夹张开，远离柜门，未开始移动。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。",
+            "progress_explanation": "当前为初始状态，远离柜门，未开始移动。因此进度为0%",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 2.039666,
+            "frame": 61,
+            "progress": 5,
+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近柜门。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。",
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓紧柜门。因此进度提升为5%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近柜门。",
+            "correction_plan": "爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 3.052466,
+            "frame": 92,
+            "progress": 15,
+            "action_description": "爪夹向爪夹右前方移动",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了柜门。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了柜门，更加方便爪夹抓紧柜门。因此进度提升为15%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了爪夹与柜门的距离，方便后续爪夹抓紧柜门。",
+            "correction_plan": "爪夹继续向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 4.22,
+            "frame": 127,
+            "progress": 20,
+            "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了柜门，准备抓紧柜门。\n为完成抓取柜门打开的任务应当：爪夹合拢抓紧柜门。抓紧柜门水平向左移动。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了柜门，方便抓紧柜门，因此进度提升为20%",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了柜门，方便抓紧柜门。",
+            "correction_plan": "爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 5.598533,
+            "frame": 168,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢夹紧柜门，准备向左移动。\n为完成抓取柜门打开的任务应当：抓紧柜门水平向左移动。",
+            "progress_explanation": "爪夹合拢抓紧柜门。因此进度提升为40%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓紧柜门。",
+            "correction_plan": "抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 6.848112517615267,
+            "frame": 205,
+            "progress": 60,
+            "action_description": "爪夹夹紧柜门，向爪夹左方移动。",
+            "state_description": "爪夹夹紧柜门，爪夹角度接近平行于桌面，位于柜门正前方。\n为完成抓取柜��打开的任务应当：爪夹到达合适位置后，松开爪夹，使柜门打开。",
+            "progress_explanation": "爪夹夹紧柜门，到达爪夹右前方的柜门正前方，方便抓紧柜门 。因此进度提升为60%",
+            "error_success_analysis": "爪夹移动到了柜门的正前方，方便抓紧柜门打开。",
+            "correction_plan": "爪夹到达合适位置后，松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 7.478859849822469,
+            "frame": 224,
+            "progress": 80,
+            "action_description": "爪夹调整角度，向爪夹左方移动。",
+            "state_description": "爪夹夹紧柜门，爪夹向左移动。\n为完成抓取柜门打开的任务应当：松开爪夹，使柜门打开。",
+            "progress_explanation": "爪夹夹紧柜门并向左方移动。因此进度提升为80%",
+            "error_success_analysis": "爪夹夹紧柜门并向左方移动，方便抓紧柜门打开。",
+            "correction_plan": "松开爪夹，使柜门打开。"
+        },
+        {
+            "time": 9.686475512547677,
+            "frame": 291,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，爪夹垂直升高。\n爪夹抓紧柜门打开的任务完成。",
+            "progress_explanation": "爪夹张开，柜门打开，任务完成。因此进度提升为100%",
+            "error_success_analysis": "爪夹张开，柜门打开，任务完成。",
+            "correction_plan": "爪夹抓紧柜门打开的任务完成。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768810557972",
+            "name": "柜门",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768810563558",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768810563752",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003899.json

@@ -0,0 +1,622 @@
+{
+    "task_description": "抓取蓝色杯子放入橙色杯子里：\n准备开始移动：0%\n爪夹靠近蓝色杯子：20%\n爪夹抓取蓝色杯子：40%\n爪夹抓紧蓝色杯子接近橙色杯子：60%\n爪夹将蓝色杯子放入橙色杯子：80%\n爪夹松开蓝色杯子落入橙色杯子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.22933333333333333,
+                            "id": "bbox_1767080361585_1767081472391_4q0ut4n6e",
+                            "width": 0.07999999999999999,
+                            "x": 0.438,
+                            "y": 0.5333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.24533333333333332,
+                            "id": "bbox_1767080566927_1767081475743_l35ki6zja",
+                            "width": 0.12699999999999995,
+                            "x": 0.611,
+                            "y": 0.4444444444444444
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767081490791_iwivctlu5",
+                            "x": 0.45,
+                            "y": 0.6364444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767081484359_plxqybgoh",
+                            "x": 0.755,
+                            "y": 0.6488888888888888
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到蓝色杯子的正上方。接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "",
+            "frame": 27,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离蓝色杯子，未开始移动。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：爪夹向爪夹方向的后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。",
+            "time": 0.9052
+        },
+        {
+            "action_description": "爪夹向爪夹方向的后侧移动，调整爪夹角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.25422222222222224,
+                            "id": "bbox_1767080361585_1767083541236_t85tkodrh",
+                            "width": 0.15,
+                            "x": 0.346,
+                            "y": 0.3573333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.2986666666666667,
+                            "id": "bbox_1767080566927_1767083545516_kbtnp3tet",
+                            "width": 0.17,
+                            "x": 0.66,
+                            "y": 0.25955555555555554
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767083551725_kwmfhmtpf",
+                            "x": 0.44800000000000006,
+                            "y": 0.6364444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767083554109_6ocxz2myc",
+                            "x": 0.751,
+                            "y": 0.6364444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到蓝色杯子的正上方。接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了蓝色杯子，方便抓取",
+            "frame": 53,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色杯子，方便抓取。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近蓝色杯子。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：调整爪夹的角度使其垂直于桌面，并移动到蓝色杯子的正上方。",
+            "time": 1.7666
+        },
+        {
+            "action_description": "爪夹下降，爪夹左触碰到蓝色杯子口的边缘。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.43733333333333335,
+                            "id": "bbox_1767080361585_1767084489908_h38epq71e",
+                            "width": 0.24699999999999997,
+                            "x": 0.40800000000000003,
+                            "y": 0.4728888888888889
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.25422222222222224,
+                            "id": "bbox_1767080566927_1767084515179_9ahetk3g8",
+                            "width": 0.04600000000000008,
+                            "x": 0.953,
+                            "y": 0.3377777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084478052_ddmhdsi78",
+                            "x": 0.43200000000000005,
+                            "y": 0.5937777777777777
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084484692_929ixzqjz",
+                            "x": 0.755,
+                            "y": 0.64
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的后侧微调，直至蓝色杯子的正上方，接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹左触碰到蓝色杯子口的边缘，导致爪夹无法抓住蓝色杯子。",
+            "frame": 114,
+            "progress": 15,
+            "progress_explanation": "爪夹张开垂直于桌面，爪夹左触碰到蓝色杯子口的边缘。因此进度提升为15%。",
+            "state_description": "爪夹张开垂直于桌面，爪夹左触碰到蓝色杯子口的边缘。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：向爪夹方向的后侧微调，直至蓝色杯子的正上方。",
+            "time": 3.796
+        },
+        {
+            "action_description": "爪夹沿蓝色杯子口向爪夹方向的右侧移动。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.5368888888888889,
+                            "id": "bbox_1767080361585_1767084543659_jgox3xant",
+                            "width": 0.324,
+                            "x": 0.124,
+                            "y": 0.27022222222222225
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.5866666666666667,
+                            "id": "bbox_1767080566927_1767084562083_xqmikck8s",
+                            "width": 0.20999999999999988,
+                            "x": 0.785,
+                            "y": 0.05511111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084533443_2bh6ut205",
+                            "x": 0.44800000000000006,
+                            "y": 0.656
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084537163_ykg86hcnm",
+                            "x": 0.754,
+                            "y": 0.6577777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左侧微调，直至蓝色杯子的正上方。接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹沿蓝色杯子口向爪夹方向的右侧移动，水平上远离了蓝色杯子。",
+            "frame": 154,
+            "progress": 5,
+            "progress_explanation": "爪夹远离蓝色杯子，需重新移动至蓝色杯子的正上方。因此进度降至5%。",
+            "state_description": "爪夹张开垂直于桌面，爪夹远离蓝色杯子。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：向爪夹方向的左侧微调，直至蓝色杯子的正上方。",
+            "time": 5.1392
+        },
+        {
+            "action_description": "爪夹离开蓝色杯子向爪夹方向的左侧微调，调整爪夹角度垂直于桌面。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.4693333333333334,
+                            "id": "bbox_1767080361585_1767084579235_wafgnmkqd",
+                            "width": 0.29599999999999993,
+                            "x": 0.35100000000000003,
+                            "y": 0.40177777777777784
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.3484444444444445,
+                            "id": "bbox_1767080566927_1767084584099_yw91vyiss",
+                            "width": 0.06900000000000013,
+                            "x": 0.9259999999999999,
+                            "y": 0.17244444444444443
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084588947_c1n94n0su",
+                            "x": 0.44800000000000006,
+                            "y": 0.656
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084593603_oxhe3kc7s",
+                            "x": 0.752,
+                            "y": 0.6488888888888888
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到蓝色杯子的正上方。接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了蓝色杯子，方便抓取",
+            "frame": 205,
+            "progress": 10,
+            "progress_explanation": "爪夹重新调整角度与桌面接近垂直，水平上接近了蓝色杯子，方便抓取。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近蓝色杯子。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：调整爪夹的角度使其垂直于桌面，并移动到蓝色杯子的正上方。",
+            "time": 6.8182
+        },
+        {
+            "action_description": "爪夹下降，爪夹左触碰到蓝色杯子口的边缘。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.3786666666666667,
+                            "id": "bbox_1767080361585_1767084602924_7j24ktjvg",
+                            "width": 0.287,
+                            "x": 0.279,
+                            "y": 0.528
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.44266666666666665,
+                            "id": "bbox_1767080566927_1767084610787_6y60tgupr",
+                            "width": 0.10600000000000005,
+                            "x": 0.89,
+                            "y": 0.29333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084618188_zqrmp7x50",
+                            "x": 0.446,
+                            "y": 0.6613333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084623204_wbb7vn1la",
+                            "x": 0.755,
+                            "y": 0.6417777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的后侧微调，直至蓝色杯子的正上方，接着落下爪夹靠近蓝色杯子，接近蓝色杯子后爪夹合拢抓取蓝色杯子。抓紧蓝色杯子垂直升高爪夹并向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹沿蓝色杯子口移动，水平上接近蓝色杯子，方便抓取蓝色杯子。",
+            "frame": 231,
+            "progress": 15,
+            "progress_explanation": "爪夹张开垂直于桌面，爪夹左触碰到蓝色杯子口的边缘。因此进度提升为15%。",
+            "state_description": "爪夹张开垂直于桌面，爪夹左触碰到蓝色杯子口的边缘。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：向爪夹方向的后侧微调，直至蓝色杯子的正上方。",
+            "time": 7.691340206185567
+        },
+        {
+            "action_description": "爪夹在爪夹方向的右后微调并垂直下降。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.5262222222222223,
+                            "id": "bbox_1767080361585_1767084642028_mo6l0l7tk",
+                            "width": 0.312,
+                            "x": 0.16799999999999998,
+                            "y": 0.35555555555555557
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.4693333333333334,
+                            "id": "bbox_1767080566927_1767084652067_vnvhjaf33",
+                            "width": 0.1200000000000001,
+                            "x": 0.876,
+                            "y": 0.22933333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084628051_t6dnc29ly",
+                            "x": 0.45099999999999996,
+                            "y": 0.6542222222222223
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084635539_zr54k7a6x",
+                            "x": 0.751,
+                            "y": 0.6488888888888888
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取蓝色杯子，抓紧蓝色杯子垂直升高爪夹并向爪夹右侧的橙色杯子接近，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，处于蓝色杯子的正上方。方便抓取",
+            "frame": 259,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于蓝色杯子的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于蓝色杯子的正上方，准备抓取蓝色杯子。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：爪夹合拢抓取蓝色杯子，抓紧蓝色杯子垂直升高爪夹并向爪夹右侧的橙色杯子接近。",
+            "time": 8.624536082474227
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.5262222222222223,
+                            "id": "bbox_1767080361585_1767084671539_5rsuwsmmf",
+                            "width": 0.333,
+                            "x": 0.309,
+                            "y": 0.37333333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.3893333333333333,
+                            "id": "bbox_1767080566927_1767084680315_aw8rvt6bk",
+                            "width": 0.06600000000000002,
+                            "x": 0.93,
+                            "y": 0.14400000000000002
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084662163_5c2ku3nkc",
+                            "x": 0.556,
+                            "y": 0.6204444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084665491_rc05r30lg",
+                            "x": 0.628,
+                            "y": 0.5617777777777778
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抓紧蓝色杯子垂直升高爪夹并向爪夹右侧的橙色杯子接近，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到蓝色杯子。",
+            "frame": 289,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到蓝色杯子，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到蓝色杯子，爪夹角度与桌面接近垂直。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：抓紧蓝色杯子垂直升高爪夹并向爪夹右侧的橙色杯子接近。",
+            "time": 9.648041237113402
+        },
+        {
+            "action_description": "爪夹夹紧蓝色杯子垂直升高，离开桌面向爪夹方向的右侧移动。",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.5564444444444444,
+                            "id": "bbox_1767080361585_1767084693724_aac2plxak",
+                            "width": 0.309,
+                            "x": 0.30600000000000005,
+                            "y": 0.33955555555555555
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767080566927": {
+                    "instances": [
+                        {
+                            "height": 0.3857777777777778,
+                            "id": "bbox_1767080566927_1767084702771_beufmrtku",
+                            "width": 0.23600000000000004,
+                            "x": 0.572,
+                            "y": 0.11377777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084685851_scqms334t",
+                            "x": 0.563,
+                            "y": 0.6044444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084688683_er0h6jidx",
+                            "x": 0.62,
+                            "y": 0.5493333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹方向的右侧微调，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "爪夹合拢继续夹紧蓝色杯子，水平上接近了橙色杯子，更加方便接近橙色杯子。",
+            "frame": 322,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧蓝色杯子，垂直升高并向爪夹右侧的橙色杯子接近，缩短了与橙色杯子的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧蓝色杯子，水平上接近了橙色杯子。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：继续向爪夹方向的右侧移动，直至橙色杯子的正上方后将蓝色杯子放入橙色杯子。",
+            "time": 10.731
+        },
+        {
+            "action_description": "爪夹夹紧蓝色杯子，向爪夹方向的右侧移动",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.48711111111111105,
+                            "id": "bbox_1767080361585_1767084721219_7kghcathi",
+                            "width": 0.294,
+                            "x": 0.322,
+                            "y": 0.3875555555555556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084708451_qi4zmbhbr",
+                            "x": 0.562,
+                            "y": 0.608
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084713955_vm1tqc89n",
+                            "x": 0.618,
+                            "y": 0.5511111111111111
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "error_success_analysis": "到了爪夹右侧的橙色杯子的正上方，方便将蓝色杯子放入橙色杯子。",
+            "frame": 345,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧蓝色杯子，到了爪夹右侧的橙色杯子的正上方，方便将蓝色杯子放入橙色杯子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧蓝色杯子，爪夹角度接近垂直于桌面，位于橙色杯子正上方。\n为完成抓取蓝色杯子落入橙色杯子的任务应当：将蓝色杯子放入橙色杯子，松开爪夹，使蓝色杯子落入橙色杯子。",
+            "time": 11.484329896907216
+        },
+        {
+            "action_description": "爪夹垂直向下移动，张开爪夹",
+            "annotations": {
+                "bbox_1767080361585": {
+                    "instances": [
+                        {
+                            "height": 0.40888888888888886,
+                            "id": "bbox_1767080361585_1767084736540_untjuv7md",
+                            "width": 0.22300000000000003,
+                            "x": 0.387,
+                            "y": 0.3413333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767080576560": {
+                    "instances": [
+                        {
+                            "id": "point_1767080576560_1767084744995_mwp2xx0qi",
+                            "x": 0.506,
+                            "y": 0.6044444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767080583984": {
+                    "instances": [
+                        {
+                            "id": "point_1767080583984_1767084749355_tnrnippyy",
+                            "x": 0.656,
+                            "y": 0.6133333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，蓝色杯子落入橙色杯子",
+            "frame": 379,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，蓝色杯子落入橙色杯子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色杯子落入橙色杯子里的任务目标完成。",
+            "time": 12.629
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767080361585",
+            "name": "蓝色杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767080566927",
+            "name": "橙色杯子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767080576560",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767080583984",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003920.json

@@ -0,0 +1,494 @@
+{
+    "task_description": "抓取杯子放在桌子上：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近桌子：60%\n爪夹将杯子放在桌子：80%\n爪夹松开杯子落在桌子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.2684444444444445,
+                            "id": "bbox_1768618279781_1768618492815_hccs17krv",
+                            "width": 0.18400000000000002,
+                            "x": 0.33999999999999997,
+                            "y": 0.3205925835503472
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.8746666666666667,
+                            "id": "bbox_1768618279941_1768618499247_wg51jsfi0",
+                            "width": 0.8459999999999999,
+                            "x": 0.072,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618488127_nh9yd2pvn",
+                            "x": 0.45499999999999996,
+                            "y": 0.642370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768618280837": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280837_1768618486053_5f9x8o9gf",
+                            "x": 0.763,
+                            "y": 0.6565925835503472
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "",
+            "frame": 36,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离杯子，未开始移动。进度 0%。\n",
+            "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹左后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 1.214733
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.46933333333333327,
+                            "id": "bbox_1768618279781_1768618518273_7fghmr2c8",
+                            "width": 0.24,
+                            "x": 0.33599999999999997,
+                            "y": 0.14459258355034724
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9884444444444443,
+                            "id": "bbox_1768618279941_1768618513523_pke9ef3jj",
+                            "width": 0.9970000000000001,
+                            "x": 0.002,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618520475_ybq76tyhv",
+                            "x": 0.45600000000000007,
+                            "y": 0.6548148057725695
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768618280837": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280837_1768618523325_ge0hdoqj1",
+                            "x": 0.762,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "爪夹的角度与桌面呈 90 度。水平上未接近杯子",
+            "frame": 66,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹左后方移动，爪夹角度与桌面呈 90 度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。还未接近杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹左后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 2.190066
+        },
+        {
+            "action_description": "爪夹向爪夹左方移动",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.6897777777777777,
+                            "id": "bbox_1768618279781_1768618534501_zpmxwcxxk",
+                            "width": 0.37100000000000005,
+                            "x": 0.23500000000000001,
+                            "y": 0.306370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9902222222222221,
+                            "id": "bbox_1768618279941_1768618540585_erk8d7zis",
+                            "width": 0.9960000000000001,
+                            "x": 0.003,
+                            "y": 0.0059259168836805565
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618529045_9abtu4fay",
+                            "x": 0.45,
+                            "y": 0.6601481391059028
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768618280837": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280837_1768618526723_iniul6krs",
+                            "x": 0.756,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子落在桌子上",
+            "error_success_analysis": "爪夹角度与桌面呈 90 度，缩短了杯子之间的距离。方便后续抓取杯子。",
+            "frame": 94,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杯子。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 90 度。水平上接近了杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹向爪夹左方的杯子移动，同时调整爪夹的角度使其垂直与桌面，并移动到杯子的正上方。",
+            "time": 3.147666
+        },
+        {
+            "action_description": "爪夹向爪夹左方移动并垂直向下移动，调整爪夹角度\n",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.9297777777777778,
+                            "id": "bbox_1768618279781_1768618554689_dy5xcspzd",
+                            "width": 0.489,
+                            "x": 0.174,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9955555555555555,
+                            "id": "bbox_1768618279941_1768618547093_ns6lydg8h",
+                            "width": 0.9960000000000001,
+                            "x": 0.002,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618557351_p4lyse1ll",
+                            "x": 0.47000000000000003,
+                            "y": 0.6548148057725695
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768618280837": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280837_1768618559759_vsm8rdxv0",
+                            "x": 0.747,
+                            "y": 0.6459259168836806
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，杯子放在桌子。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了杯子，方便抓取。\n",
+            "frame": 118,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杯子。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了杯子。准备抓取杯子。\n为完成抓取杯子使其落在桌子的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近",
+            "time": 3.927933
+        },
+        {
+            "action_description": "爪夹合拢\n",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.9120000000000001,
+                            "id": "bbox_1768618279781_1768618574455_qog2q7s9n",
+                            "width": 0.483,
+                            "x": 0.16799999999999998,
+                            "y": 0.07881480577256944
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.992,
+                            "id": "bbox_1768618279941_1768618581899_7q7em09at",
+                            "width": 0.9960000000000001,
+                            "x": 0.002,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618565497_alqb0atsv",
+                            "x": 0.572,
+                            "y": 0.6068148057725694
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子。\n",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杯子\n",
+            "frame": 145,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到杯子。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子使其落在桌子的任务应当：抓紧杯子垂直升高爪夹并向爪夹右方的桌子接近",
+            "time": 4.823466
+        },
+        {
+            "action_description": "爪夹夹紧杯子，垂直升高，向爪夹右方移动。\n",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.9244444444444445,
+                            "id": "bbox_1768618279781_1768618597081_e021epdme",
+                            "width": 0.48200000000000004,
+                            "x": 0.166,
+                            "y": 0.066370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9973333333333332,
+                            "id": "bbox_1768618279941_1768618590701_a396jftrt",
+                            "width": 0.999,
+                            "x": -0.001,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618600295_i26eif8p0",
+                            "x": 0.571,
+                            "y": 0.5979259168836806
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了桌子。更加方便接近桌子。",
+            "frame": 173,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹右边的桌子接近。缩短了与桌子盒的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧杯子，水平上接近了桌子。\n为完成抓取杯子使其落在桌子的任务应当：继续向爪夹右方的桌子接近，水平到达桌子的正上方后将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "time": 5.781066
+        },
+        {
+            "action_description": "爪夹夹紧杯子，向爪夹右方移动",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.9244444444444445,
+                            "id": "bbox_1768618279781_1768618611547_9he0mf5t8",
+                            "width": 0.488,
+                            "x": 0.162,
+                            "y": 0.06992591688368056
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9991111111111112,
+                            "id": "bbox_1768618279941_1768618621477_9ykeohpwu",
+                            "width": 0.999,
+                            "x": -0.001,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618604115_rws9r39tj",
+                            "x": 0.5700000000000001,
+                            "y": 0.5961481391059028
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "error_success_analysis": "爪夹移动到了桌子正上方，方便将目标放在桌子。",
+            "frame": 197,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧杯子，到了爪夹右方的桌子正上方，方便放在桌子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于桌子正上方。\n为完成抓取杯子使其落在桌子的任务应当：将杯子放在桌子，松开爪夹，使杯子放在桌子",
+            "time": 6.561333
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.9191111111111112,
+                            "id": "bbox_1768618279781_1768618636371_u5jkfd4lc",
+                            "width": 0.458,
+                            "x": 0.182,
+                            "y": 0.07881480577256944
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9973333333333334,
+                            "id": "bbox_1768618279941_1768618630363_uf3zq7lel",
+                            "width": 0.9960000000000001,
+                            "x": 0.003,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618638645_5ohycnmc7",
+                            "x": 0.568,
+                            "y": 0.5961481391059028
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使杯子放在桌子。\n",
+            "error_success_analysis": "杯子放在桌子，方便杯子放在桌子。",
+            "frame": 222,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，杯子放在桌子。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，杯子放在桌子。\n为完成抓取杯子使其落在桌子的任务应当：松开爪夹，使杯子放在桌子。",
+            "time": 7.403666
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1768618279781": {
+                    "instances": [
+                        {
+                            "height": 0.7804444444444444,
+                            "id": "bbox_1768618279781_1768618662703_c1v47nb0z",
+                            "width": 0.38200000000000006,
+                            "x": 0.23199999999999998,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768618279941": {
+                    "instances": [
+                        {
+                            "height": 0.9973333333333332,
+                            "id": "bbox_1768618279941_1768618653831_26va92mqg",
+                            "width": 0.9960000000000001,
+                            "x": 0.002,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768618280717": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280717_1768618643117_lp2fdx8ml",
+                            "x": 0.466,
+                            "y": 0.6388148057725694
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768618280837": {
+                    "instances": [
+                        {
+                            "id": "point_1768618280837_1768618645423_92a0pwo8d",
+                            "x": 0.748,
+                            "y": 0.6565925835503472
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，杯子放在桌子。",
+            "frame": 256,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，杯子放在桌子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子放在桌子的任务目标完成。",
+            "time": 8.5386
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1768618279781",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1768618279941",
+            "name": "桌子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1768618280717",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1768618280837",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006132.json

@@ -0,0 +1,337 @@
+{
+    "task_description": "把桌上的餐巾挪一下\n开始移动：0%\n爪夹靠近餐巾纸：25%\n抓紧餐巾纸：50%\n移动餐巾纸：75%\n爪夹松开餐巾纸：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹前移动调整爪夹角度使其垂直桌面，爪夹向爪夹左移动至餐巾纸上方，爪夹向爪夹下方餐巾纸移动靠近餐巾纸，爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "爪夹未开始移动进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，远离餐巾纸，未开始移动\n为完成把桌上的餐巾挪一下的任务应该：爪夹向爪夹前移动调整爪夹角度使其垂直桌面",
+            "time": 0,
+            "annotations": {
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358297724_wrrwp5mrf",
+                            "x": 0.7995,
+                            "y": 0.22755555555555557
+                        }
+                    ]
+                },
+                "point_1768358275852": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275852_1768358300411_m3cdp4zbb",
+                            "x": 0.7675,
+                            "y": 0.22044444444444444
+                        }
+                    ]
+                },
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358303035_0j70r207k",
+                            "x": 0.5805,
+                            "y": 0.5226666666666666,
+                            "width": 0.08100000000000004,
+                            "height": 0.14044444444444446
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹前移动并向爪夹右下移动同时调整爪夹角度",
+            "correction_plan": "爪夹向爪夹左移动至餐巾纸上方，爪夹向爪夹下方餐巾纸移动靠近餐巾纸，爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "",
+            "frame": 83,
+            "progress": -10,
+            "progress_explanation": "爪夹向右移动远离餐巾纸进度下降为-10",
+            "state_description": "爪夹张开远离餐巾纸\n为完成把桌上的餐巾挪一下的任务应该：爪夹向爪夹左移动至餐巾纸上方",
+            "time": 2.769501,
+            "annotations": {
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358311643_gjt1w3xg5",
+                            "x": 0.5785,
+                            "y": 0.5013333333333333,
+                            "width": 0.08499999999999996,
+                            "height": 0.11555555555555562
+                        }
+                    ]
+                },
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358313979_qtrdfpajf",
+                            "x": 0.5805,
+                            "y": 0.34844444444444445
+                        }
+                    ]
+                },
+                "point_1768358275852": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275852_1768358316739_j0jsooluq",
+                            "x": 0.6275000000000001,
+                            "y": 0.3431111111111111
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右移动",
+            "correction_plan": "爪夹向爪夹左移动至餐巾纸上方，爪夹向爪夹下方餐巾纸移动靠近餐巾纸，爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "",
+            "frame": 165,
+            "progress": -20,
+            "progress_explanation": "爪夹位于餐桌右上角远离餐巾纸进度下降为-20%",
+            "state_description": "爪夹张开位于餐桌右上角\n为完成把桌上的餐巾挪一下的任务应该：爪夹向爪夹左移动至餐巾纸上方",
+            "time": 5.512027560309278,
+            "annotations": {
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358320899_hktp2lcat",
+                            "x": 0.5515,
+                            "y": 0.4248888888888889
+                        }
+                    ]
+                },
+                "point_1768358275852": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275852_1768358322932_8k67f3yv7",
+                            "x": 0.5895,
+                            "y": 0.43733333333333335
+                        }
+                    ]
+                },
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358325172_ukwo5aku1",
+                            "x": 0.5945,
+                            "y": 0.5244444444444445,
+                            "width": 0.07800000000000003,
+                            "height": 0.11733333333333328
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左下移动",
+            "correction_plan": "爪夹向爪夹左移动至餐巾纸上方，爪夹向爪夹下方餐巾纸移动靠近餐巾纸，爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "爪夹向爪夹左下移动",
+            "frame": 223,
+            "progress": 10,
+            "progress_explanation": "爪夹位于餐巾纸右上角进度上升为10%",
+            "state_description": "爪夹张开位于餐巾纸左上\n为完成把桌上的餐巾挪一下的任务应该：爪夹向爪夹左移动",
+            "time": 7.425359,
+            "annotations": {
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358328852_fv3kpilq1",
+                            "x": 0.5935,
+                            "y": 0.5191111111111111,
+                            "width": 0.054000000000000006,
+                            "height": 0.08533333333333333
+                        }
+                    ]
+                },
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358331451_sklsthf1p",
+                            "x": 0.5545,
+                            "y": 0.5102222222222222
+                        }
+                    ]
+                },
+                "point_1768358275852": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275852_1768358333483_efo3l6miu",
+                            "x": 0.5945,
+                            "y": 0.5031111111111112
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左下餐巾纸移动",
+            "correction_plan": "爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "爪夹向爪夹左下餐巾纸移动靠近餐巾纸",
+            "frame": 333,
+            "progress": 25,
+            "progress_explanation": "爪夹靠近餐巾纸进度上升为25%",
+            "state_description": "爪夹张开靠近餐巾纸\n为完成把桌上的餐巾挪一下的任务应该：爪夹合拢",
+            "time": 11.089121,
+            "annotations": {
+                "point_1768358275852": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275852_1768358338315_j61fhaaka",
+                            "x": 0.6375,
+                            "y": 0.5457777777777778
+                        }
+                    ]
+                },
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358340307_laq48magj",
+                            "x": 0.5995,
+                            "y": 0.5742222222222222
+                        }
+                    ]
+                },
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358342275_5bslzx6b6",
+                            "x": 0.5805,
+                            "y": 0.4906666666666667,
+                            "width": 0.11200000000000002,
+                            "height": 0.17777777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹夹紧餐巾纸向爪夹右移动，爪夹张开松开餐巾纸",
+            "error_success_analysis": "爪夹合拢夹紧餐巾纸",
+            "frame": 361,
+            "progress": 50,
+            "progress_explanation": "爪夹夹紧餐巾纸进度上升为50%",
+            "state_description": "爪夹夹紧餐巾纸\n为完成把桌上的餐巾挪一下的任务应该：爪夹向爪夹左移动",
+            "time": 12.040848,
+            "annotations": {
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358346588_oe1ypa0rp",
+                            "x": 0.5435000000000001,
+                            "y": 0.5066666666666667,
+                            "width": 0.1,
+                            "height": 0.1013333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左移动",
+            "correction_plan": "爪夹打开使餐巾纸放在桌面",
+            "error_success_analysis": "爪夹夹紧餐巾纸向爪夹左移动",
+            "frame": 462,
+            "progress": 75,
+            "progress_explanation": "爪夹夹紧餐巾纸移动进度上升为75%",
+            "state_description": "爪夹夹紧餐巾纸靠近杯子\n为完成把桌上的餐巾挪一下的任务应该：爪夹张开",
+            "time": 15.408934900515463,
+            "annotations": {
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358349420_roeuxzy84",
+                            "x": 0.5915,
+                            "y": 0.5493333333333333,
+                            "width": 0.096,
+                            "height": 0.11911111111111118
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 22.64,
+            "frame": 679,
+            "progress": 90,
+            "action_description": "爪夹爪夹餐巾纸原地转圈",
+            "state_description": "爪夹夹紧餐巾纸垂直桌面\n为完成把桌上的餐巾挪一下的任务应该：\n爪夹张开使餐巾纸放在餐桌上",
+            "progress_explanation": "爪夹在原地移动进度上升为85%",
+            "error_success_analysis": "爪夹夹紧餐巾纸原地转圈",
+            "correction_plan": "爪夹打开使餐巾纸落在餐桌上"
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹打开",
+            "frame": 695,
+            "progress": 100,
+            "progress_explanation": "完成把餐巾纸从桌上挪移任务完成进度为100%",
+            "state_description": "爪夹张开餐巾纸放在餐桌上任务完成",
+            "time": 23.16151231701031,
+            "annotations": {
+                "bbox_1768358249579": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768358249579_1768358360621_2tdfof0wf",
+                            "x": 0.5785,
+                            "y": 0.5635555555555556,
+                            "width": 0.08499999999999996,
+                            "height": 0.14044444444444446
+                        }
+                    ]
+                },
+                "point_1768358275315": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768358275315_1768358377820_x2zvrdc4r",
+                            "x": 0.6245,
+                            "y": 0.6382222222222222
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768358249579",
+            "name": "餐巾纸",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768358275315",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768358275852",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006683.json

@@ -0,0 +1,328 @@
+{
+    "task_description": "拾取一个黄色代币并放置在紫色代币右侧最后一排\n开始移动：0%\n爪夹靠近黄色代币：25%\n抓紧黄色代币：50%\n移动黄色代币：75%\n将黄色代币完全放置紫色代币右侧最后一排:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹前移动调整爪夹角度使其垂直床，爪夹向爪夹下黄色代币移动靠近黄色代币，爪夹合拢，爪夹夹紧黄色代币向爪夹方抬升，爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "error_success_analysis": "",
+            "frame": 7,
+            "progress": 0,
+            "progress_explanation": "爪夹未开始移动进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹向爪夹前移动调整爪夹角度使其垂直床",
+            "time": 0.24678898623853218,
+            "annotations": {
+                "bbox_1768362985804": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362985804_1768363016283_r0lvjcwv3",
+                            "x": 0.4722222222222222,
+                            "y": 0.8265107212475633,
+                            "width": 0.1038011695906432,
+                            "height": 0.12735542560103963
+                        }
+                    ]
+                },
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363022115_7k5q8vodd",
+                            "x": 0.4985380116959064,
+                            "y": 0.5588044184535412,
+                            "width": 0.18421052631578946,
+                            "height": 0.3222871994801819
+                        }
+                    ]
+                },
+                "point_1768362986859": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362986859_1768363025227_m4sdkiikd",
+                            "x": 0.4912280701754385,
+                            "y": 0.4782326185834958
+                        }
+                    ]
+                },
+                "point_1768362987027": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362987027_1768363026947_yh5737dwj",
+                            "x": 0.5833333333333333,
+                            "y": 0.5354126055880442
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹前移动并向爪夹下方移动同时调整爪夹进度",
+            "correction_plan": "爪夹向爪夹下黄色代币移动靠近黄色代币，爪夹合拢，爪夹夹紧黄色代币向爪夹方抬升，爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "error_success_analysis": "爪夹向爪夹下方黄色代币移动",
+            "frame": 66,
+            "progress": 10,
+            "progress_explanation": "爪夹张开垂直黄色代币上方进度上升为10%",
+            "state_description": "爪夹张开爪夹垂直床上\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹向爪夹下黄色代币移动",
+            "time": 2.2093126737113407,
+            "annotations": {
+                "point_1768362986859": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362986859_1768363036452_1fp08nmyh",
+                            "x": 0.48684210526315785,
+                            "y": 0.7043534762833008
+                        }
+                    ]
+                },
+                "bbox_1768362985804": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362985804_1768363041731_afr870zlz",
+                            "x": 0.47368421052631576,
+                            "y": 0.8473034437946718,
+                            "width": 0.12280701754385967,
+                            "height": 0.0909681611435998
+                        }
+                    ]
+                },
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363043468_o2qqq5ev2",
+                            "x": 0.45467836257309935,
+                            "y": 0.5042235217673814,
+                            "width": 0.2543859649122807,
+                            "height": 0.37426900584795325
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 4.82609573088685,
+            "frame": 145,
+            "progress": 25,
+            "action_description": "爪夹向爪夹下方黄色代币移动靠近黄色代币",
+            "state_description": "爪夹张开靠近黄色代币\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹合拢",
+            "progress_explanation": "爪夹靠近黄色代币进度上升为25%",
+            "error_success_analysis": "爪夹向爪夹下黄色代币移动靠近黄色代币",
+            "correction_plan": "爪夹合拢，爪夹夹紧黄色代币向爪夹方抬升，爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "annotations": {
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363046179_bh0s9hpzj",
+                            "x": 0.45467836257309935,
+                            "y": 0.5873944119558154,
+                            "width": 0.21198830409356723,
+                            "height": 0.2910981156595192
+                        }
+                    ]
+                },
+                "bbox_1768362985804": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362985804_1768363049211_pqlr3rbe8",
+                            "x": 0.42251461988304095,
+                            "y": 0.8680961663417802,
+                            "width": 0.15935672514619875,
+                            "height": 0.09876543209876555
+                        }
+                    ]
+                },
+                "point_1768362986859": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362986859_1768363050939_dmw193fun",
+                            "x": 0.48245614035087714,
+                            "y": 0.8369070825211176
+                        }
+                    ]
+                },
+                "point_1768362987027": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362987027_1768363052323_re4egjhxw",
+                            "x": 0.5321637426900584,
+                            "y": 0.8576998050682261
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 7.08667,
+            "frame": 213,
+            "progress": 50,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹夹紧黄色代币\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹夹紧黄色代币向爪夹方抬升",
+            "progress_explanation": "爪夹夹紧黄色代币进度上升为50%",
+            "error_success_analysis": "爪夹合拢夹紧黄色代币",
+            "correction_plan": "爪夹夹紧黄色代币向爪夹方抬升，爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后，爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "annotations": {
+                "point_1768362986859": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362986859_1768363056851_g0q1dma18",
+                            "x": 0.4956140350877193,
+                            "y": 0.8628979857050031
+                        }
+                    ]
+                },
+                "point_1768362987027": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768362987027_1768363058651_lm6s4srz2",
+                            "x": 0.5204678362573099,
+                            "y": 0.8628979857050031
+                        }
+                    ]
+                },
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363060907_3f90jntb6",
+                            "x": 0.5073099415204678,
+                            "y": 0.631578947368421,
+                            "width": 0.1769005847953217,
+                            "height": 0.24171539961013638
+                        }
+                    ]
+                },
+                "bbox_1768362985804": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362985804_1768363078307_q7ljw28vg",
+                            "x": 0.4590643274853801,
+                            "y": 0.7875243664717348,
+                            "width": 0.10233918128654969,
+                            "height": 0.1403508771929825
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 9.900309094329899,
+            "frame": 297,
+            "progress": 75,
+            "action_description": "爪夹夹紧黄色代币向爪夹上抬升同时调整爪夹进度",
+            "state_description": "爪夹夹紧黄色代币位于放置紫色代币前\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后",
+            "progress_explanation": "爪夹夹紧黄色代币移动进度上升为75%",
+            "error_success_analysis": "爪夹向爪夹方抬升同时调整爪夹角度",
+            "correction_plan": "爪夹向放置紫色代币右侧最后一排移动将黄色代币并放置在紫色代币右侧最后一排后，爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "annotations": {
+                "bbox_1768362985804": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362985804_1768363081667_veq861xes",
+                            "x": 0.5804093567251462,
+                            "y": 0.6393762183235867,
+                            "width": 0.0628654970760234,
+                            "height": 0.1039636127355426
+                        }
+                    ]
+                },
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363084122_zpvnbs5g4",
+                            "x": 0.4692982456140351,
+                            "y": 0.6341780376868096,
+                            "width": 0.24561403508771926,
+                            "height": 0.2261208576998051
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 13.765341232415903,
+            "frame": 413,
+            "progress": 85,
+            "action_description": "爪夹向爪夹前放置在紫色代币右侧最后一排移动",
+            "state_description": "爪夹夹紧黄色代币靠近放置在紫色代币右侧最后一排\n为完拾取一个黄色代币并放置在紫色代币右侧最后一排任务应该：爪夹张开",
+            "progress_explanation": "爪夹夹紧黄色代币靠近放置在紫色代币右侧最后一排进度上升为85%",
+            "error_success_analysis": "爪夹夹紧黄色代币向爪夹前放置在紫色代币右侧最后一排移动",
+            "correction_plan": "爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排",
+            "annotations": {
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363087270_vbwhhimsg",
+                            "x": 0.48391812865497075,
+                            "y": 0.6081871345029239,
+                            "width": 0.2076023391812865,
+                            "height": 0.2833008447043534
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 16.041284105504587,
+            "frame": 481,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排任务完成",
+            "progress_explanation": "爪夹张开使黄色代币完全并放置在紫色代币右侧最后一排任务完成进度为100%",
+            "error_success_analysis": "爪夹张开",
+            "correction_plan": "",
+            "annotations": {
+                "bbox_1768362986243": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768362986243_1768363089131_kmplzcew4",
+                            "x": 0.4883040935672514,
+                            "y": 0.6237816764132553,
+                            "width": 0.22660818713450298,
+                            "height": 0.2521117608836907
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768362985804",
+            "name": "黄色代币",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768362986243",
+            "name": "放置紫色代币装置",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768362986859",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768362987027",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006011.json

@@ -0,0 +1,357 @@
+{
+    "task_description": "将塑料玉米移到右边\n开始移动：0%\n爪夹靠近塑料玉米：25%\n抓紧塑料玉米：50%\n移动塑料玉米：75%\n将塑料玉米完全移到右边:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹下方移动调整爪夹角度，爪夹向爪夹下方塑料玉米移动靠近塑料玉米，爪夹合拢，爪夹向爪夹方抬升，爪夹夹紧塑料玉米向爪夹右方移动，爪夹爪夹向爪夹下移动靠近桌子，爪夹张开将塑料玉米放在桌子上",
+            "error_success_analysis": "",
+            "frame": 37,
+            "progress": 0,
+            "progress_explanation": "爪夹未开始移动进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将塑料玉米完全移到右边的任务应该：爪夹向爪夹下方移动调整爪夹角度",
+            "time": 1.222935779816514,
+            "annotations": {
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370543398_o5u5g3lwv",
+                            "x": 0.41374269005847947,
+                            "y": 0.5624431488651823,
+                            "width": 0.12426900584795328,
+                            "height": 0.18713450292397663
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 1.801223241590214,
+            "frame": 54,
+            "progress": 10,
+            "action_description": "爪夹向爪夹下方移动调整爪夹角度",
+            "state_description": "爪夹张开在塑料玉米上方\n为完成将塑料玉米完全移到右边的任务应该：爪夹向爪夹下方塑料玉米移动靠近塑料玉米",
+            "progress_explanation": "爪夹向爪夹下方移动进度上升为10%",
+            "error_success_analysis": "爪夹向爪夹下移动",
+            "correction_plan": "爪夹向爪夹下方塑料玉米移动靠近塑料玉米，爪夹合拢，爪夹向爪夹方抬升，爪夹夹紧塑料玉米向爪夹右方移动，爪夹爪夹向爪夹下移动靠近桌子，爪夹张开将塑料玉米放在桌子上",
+            "annotations": {
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370546286_njj6dwdv3",
+                            "x": 0.3845029239766081,
+                            "y": 0.5728395101387366,
+                            "width": 0.15497076023391815,
+                            "height": 0.23911630929174782
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370547542_jugamxip2",
+                            "x": 0.5204678362573099,
+                            "y": 0.3337232008469887
+                        }
+                    ]
+                },
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370549550_2woyvs0he",
+                            "x": 0.6067251461988303,
+                            "y": 0.2973359363895488
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 2.8768,
+            "frame": 86,
+            "progress": 25,
+            "action_description": "爪夹向爪夹下方塑料玉米移动",
+            "state_description": "爪夹张开靠近塑料玉米\n为完成将塑料玉米完全移到右边的任务应该：爪夹合拢",
+            "progress_explanation": "爪夹靠近塑料玉米进度上升为25%",
+            "error_success_analysis": "爪夹向爪夹下塑料玉米移动靠近塑料玉米",
+            "correction_plan": "，爪夹合拢，爪夹向爪夹方抬升，爪夹夹紧塑料玉米向爪夹右方移动，爪夹爪夹向爪夹下移动靠近桌子，爪夹张开将塑料玉米放在桌子上",
+            "annotations": {
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370554998_23a6cg15y",
+                            "x": 0.5204678362573099,
+                            "y": 0.6222222261881193
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370556534_mqc4889ip",
+                            "x": 0.4576023391812865,
+                            "y": 0.7027940260581648
+                        }
+                    ]
+                },
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370557774_odldt07bb",
+                            "x": 0.38011695906432746,
+                            "y": 0.5728395101387366,
+                            "width": 0.13157894736842107,
+                            "height": 0.17933723196881088
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 3.268297,
+            "frame": 98,
+            "progress": 50,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹夹紧塑料玉米\n为完成将塑料玉米完全移到右边的任务应该：爪夹向爪夹方抬升",
+            "progress_explanation": "爪夹夹紧塑料玉米进度上升为50%",
+            "error_success_analysis": "爪夹合拢夹紧塑料玉米",
+            "correction_plan": "爪夹向爪夹方抬升，爪夹夹紧塑料玉米向爪夹右方移动，爪夹爪夹向爪夹下移动开进桌子，爪夹靠近将塑料玉米放在桌子上",
+            "annotations": {
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370561247_s8s3t6een",
+                            "x": 0.38596491228070173,
+                            "y": 0.5832358714122908,
+                            "width": 0.15350877192982457,
+                            "height": 0.21572449642625086
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370563134_wm3fb5w0p",
+                            "x": 0.4576023391812865,
+                            "y": 0.7079922066949419
+                        }
+                    ]
+                },
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370564646_qidi5hsaa",
+                            "x": 0.4912280701754385,
+                            "y": 0.6482131293720049
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 3.5402,
+            "frame": 106,
+            "progress": 75,
+            "action_description": "爪夹向爪夹上抬升并向爪夹右移动",
+            "state_description": "爪夹夹紧玉米垂直桌子\n为完成将塑料玉米完全移到右边的任务应该：爪夹向爪夹右移动",
+            "progress_explanation": "爪夹夹紧塑料玉米移动进度上升为75%",
+            "error_success_analysis": "爪夹向爪夹右移动并向上抬升",
+            "correction_plan": "爪夹夹紧塑料玉米向爪夹右方移动，爪夹爪夹向爪夹下移动靠近桌子，爪夹张开将塑料玉米放在桌子上",
+            "annotations": {
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370570374_u6pujfy6m",
+                            "x": 0.4956140350877193,
+                            "y": 0.6456140390536164
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370572342_rk4yok4nm",
+                            "x": 0.45029239766081874,
+                            "y": 0.7105912970133305
+                        }
+                    ]
+                },
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370573479_nonv3xsj4",
+                            "x": 0.3567251461988304,
+                            "y": 0.45847953612963976,
+                            "width": 0.2046783625730994,
+                            "height": 0.3560753736192333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.128746177370031,
+            "frame": 154,
+            "progress": 90,
+            "action_description": "爪夹向爪夹右移动",
+            "state_description": "爪夹夹紧塑料玉米垂直桌子中间\n为完成将塑料玉米完全移到右边的任务应该：爪夹向爪夹下移动",
+            "progress_explanation": "爪夹向爪夹右移动进度上升为90%",
+            "error_success_analysis": "爪夹夹紧塑料玉米向右移动",
+            "correction_plan": "爪夹爪夹向爪夹下移动靠近桌子，爪夹张开将塑料玉米放在桌子上",
+            "annotations": {
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370578438_ygzqpv4i7",
+                            "x": 0.5570175438596491,
+                            "y": 0.4922677102686911,
+                            "width": 0.20175438596491233,
+                            "height": 0.2079272254710851
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370581022_m06wiq373",
+                            "x": 0.6286549707602338,
+                            "y": 0.5910331423674565
+                        }
+                    ]
+                },
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370582782_8ntmv7olt",
+                            "x": 0.6535087719298245,
+                            "y": 0.5390513359996852
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.4188,
+            "frame": 163,
+            "progress": 95,
+            "action_description": "爪夹向爪夹下移动",
+            "state_description": "爪夹夹紧塑料玉米在桌面上\n为完成将塑料玉米完全移到右边的任务应该：爪夹打开",
+            "progress_explanation": "爪夹夹紧塑料玉米在桌面是进度上升为95%",
+            "error_success_analysis": "爪夹向爪夹下移动至桌面上",
+            "correction_plan": "爪夹张开将塑料玉米放在桌子上",
+            "annotations": {
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370585973_vjaw5la40",
+                            "x": 0.6652046783625731,
+                            "y": 0.570240419820348
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370587685_fdjfgnl7u",
+                            "x": 0.6257309941520467,
+                            "y": 0.6144249552329536
+                        }
+                    ]
+                },
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370589007_f61ny9b53",
+                            "x": 0.5380116959064327,
+                            "y": 0.5416504263180738,
+                            "width": 0.23976608187134502,
+                            "height": 0.19753086419753096
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.583792048929664,
+            "frame": 168,
+            "progress": 100,
+            "action_description": "爪夹打开",
+            "state_description": "爪夹张开将塑料玉米放在桌子上任务完成",
+            "progress_explanation": "将塑料玉米完全移到右边任务完成进度为100%",
+            "error_success_analysis": "爪夹打开将塑料玉米放在桌子上",
+            "correction_plan": "",
+            "annotations": {
+                "bbox_1768370526950": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768370526950_1768370591789_k8umhlwp1",
+                            "x": 0.5877192982456141,
+                            "y": 0.4714749877215826,
+                            "width": 0.14181286549707597,
+                            "height": 0.29889538661468484
+                        }
+                    ]
+                },
+                "point_1768370526406": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526406_1768370593397_co7ttbqm4",
+                            "x": 0.6257309941520467,
+                            "y": 0.6222222261881193
+                        }
+                    ]
+                },
+                "point_1768370526542": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768370526542_1768370595070_4svh3745b",
+                            "x": 0.6681286549707602,
+                            "y": 0.5624431488651823
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768370526950",
+            "name": "塑料玉米",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768370526406",
+            "name": "爪夹左 ",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768370526542",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006082.json

@@ -0,0 +1,474 @@
+{
+    "task_description": "关闭烤面包机的开关\n开始移动：0%\n爪夹靠近面包机：25%\n爪夹靠近开关：50%\n爪夹按下开关：75%\n爪夹松开开关：700%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹调整爪夹角度使其垂直桌面，爪夹向爪夹下移动平行烤面包机，爪夹向爪夹左下移动靠近烤面包机，爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关，爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "error_success_analysis": "",
+            "frame": 6,
+            "progress": 0,
+            "progress_explanation": "爪夹未开始移动进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成关闭烤面包机的开关的任务应该：爪夹调整爪夹角度使其垂直桌面",
+            "time": 0.20876655657492355,
+            "annotations": {
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372458210_kpiqbyikc",
+                            "x": 0.4439518689210824,
+                            "y": 0.6061829734661294
+                        }
+                    ]
+                },
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372460171_86z86bkjz",
+                            "x": 0.7769157706118942,
+                            "y": 0.6460436896525507
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 1.176317,
+            "frame": 35,
+            "progress": 5,
+            "action_description": "爪夹调整爪夹角度",
+            "state_description": "爪夹张开垂直桌面上\n为完成关闭烤面包机的开关的任务应该：爪夹向左下移动",
+            "progress_explanation": "爪夹调整角度进度上升为5%",
+            "error_success_analysis": "爪夹调整爪夹角度使其垂直桌面",
+            "correction_plan": "爪夹向爪夹下移动平行烤面包机，爪夹向爪夹左下移动靠近烤面包机，爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关，爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372465626_yoojszozk",
+                            "x": 0.7780368611899777,
+                            "y": 0.6322736257887934
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372467842_6p2ok9vso",
+                            "x": 0.4394675066087482,
+                            "y": 0.6023780886489774
+                        }
+                    ]
+                },
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372470835_c9fp655a1",
+                            "x": 0.366596619033318,
+                            "y": 0.5565382650345928,
+                            "width": 0.22758138735095884,
+                            "height": 0.33881608758458154
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372473346_xrwsfrp44",
+                            "x": 0.4417096877649153,
+                            "y": 0.6801064852124991,
+                            "width": 0.034753807920589797,
+                            "height": 0.05181893104234771
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 2.124799,
+            "frame": 64,
+            "progress": 15,
+            "action_description": "爪夹向爪夹下移动",
+            "state_description": "爪夹张开靠近桌面\n为完成关闭烤面包机的开关的任务应该：爪夹向爪夹左下烤面包机移动",
+            "progress_explanation": "爪夹平行烤面包机进度上升为15%",
+            "error_success_analysis": "爪夹向爪夹下移动",
+            "correction_plan": "爪夹向爪夹左下移动靠��烤面包机，爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关，爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372478811_bfbefbjmn",
+                            "x": 0.4417096877649153,
+                            "y": 0.6255697711548696
+                        }
+                    ]
+                },
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372481074_xsenbir20",
+                            "x": 0.7870055858146461,
+                            "y": 0.6418764312324184
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 3.914372935779817,
+            "frame": 117,
+            "progress": 25,
+            "action_description": "爪夹向爪夹左下移动",
+            "state_description": "爪夹张开靠近烤面包机\n为完成关闭烤面包机的开关的任务应该：爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关",
+            "progress_explanation": "爪夹张开靠近烤面包机进度上升为25%",
+            "error_success_analysis": "爪夹向爪夹左下移动靠近烤面包机，",
+            "correction_plan": "爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关，爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372490922_lq6drzsmc",
+                            "x": 0.7757946800338107,
+                            "y": 0.6380715464152664
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372492258_0zpsak2e7",
+                            "x": 0.4484362312334166,
+                            "y": 0.622127259940698
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372495698_3zcifpwux",
+                            "x": 0.6636856222254565,
+                            "y": 0.7775840530677413,
+                            "width": 0.07847634046584791,
+                            "height": 0.10563089789401658
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 4.616533,
+            "frame": 138,
+            "progress": 50,
+            "action_description": "爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关",
+            "state_description": "爪夹张开靠近烤面包机开关\n为完成关闭烤面包机的开关的任务应该：爪夹向烤面包机移动按下烤面包机开关",
+            "progress_explanation": "爪夹靠近烤面包机开关进度上升为：50%",
+            "error_success_analysis": "爪夹调整爪夹角度向爪夹后烤面包机移动靠近烤面包机开关",
+            "correction_plan": "爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372503250_np34is6mn",
+                            "x": 0.31278427128530806,
+                            "y": 0.2813181365467954,
+                            "width": 0.6782597997405425,
+                            "height": 0.625813244126815
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372505178_k50f0lsfr",
+                            "x": 0.6614434410692894,
+                            "y": 0.6380715464152664,
+                            "width": 0.11547232954260478,
+                            "height": 0.19531750931346464
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372506852_s8s1ubbzt",
+                            "x": 0.4495573218115001,
+                            "y": 0.5882456511822398
+                        }
+                    ]
+                },
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372509067_h641k6pi7",
+                            "x": 0.7847634046584789,
+                            "y": 0.6181411883220558
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.282133,
+            "frame": 158,
+            "progress": 20,
+            "action_description": "爪夹向爪夹前移动",
+            "state_description": "爪夹张开在烤面包机前\n为完成关闭烤面包机的开关的任务应该：爪夹向爪夹后移动靠近烤面包机开关",
+            "progress_explanation": "爪夹位于烤面包机开关前进度下降为20%",
+            "error_success_analysis": "爪夹向爪夹前移动",
+            "correction_plan": "爪夹向爪夹后移动靠近烤面包机开关，爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372513914_oy1nn9qhh",
+                            "x": 0.7948532198612308,
+                            "y": 0.6880786284497833
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372516707_2648y05br",
+                            "x": 0.432740963140247,
+                            "y": 0.6561900555006462
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372518315_r8njy77w5",
+                            "x": 0.7085292453487981,
+                            "y": 0.7458766669200942,
+                            "width": 0.07062870641926314,
+                            "height": 0.14349857827111695
+                        }
+                    ]
+                },
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372521475_guzv7i5e8",
+                            "x": 0.3688388001894851,
+                            "y": 0.5485661217973086,
+                            "width": 0.6165998179459478,
+                            "height": 0.3906350186269292
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.851814155080843,
+            "frame": 176,
+            "progress": 50,
+            "action_description": "爪夹向爪夹后移动",
+            "state_description": "爪夹张开靠近烤面包开关\n为完成关闭烤面包机的开关的任务应该：爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "progress_explanation": "爪夹靠近烤面包机开关进度上升为50%",
+            "error_success_analysis": "爪夹向爪夹后移动",
+            "correction_plan": "爪夹向烤面包机移动按下烤面包机开关，爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372525643_m3ww8rs19",
+                            "x": 0.2813937350989689,
+                            "y": 0.3472695050558808,
+                            "width": 0.7141346982392158,
+                            "height": 0.587945563749715
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372528010_eid4grznt",
+                            "x": 0.6782597997405426,
+                            "y": 0.6183223751235459,
+                            "width": 0.22646029677287532,
+                            "height": 0.22322001064395952
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372529539_0riu145kq",
+                            "x": 0.447315140655333,
+                            "y": 0.6183223751235459
+                        }
+                    ]
+                },
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372531275_x8x733n62",
+                            "x": 0.7735524988776435,
+                            "y": 0.6541970196913252
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 6.475611603084385,
+            "frame": 194,
+            "progress": 75,
+            "action_description": "爪夹向烤面包机移动按下烤面包机开关",
+            "state_description": "爪夹张开按下烤面包机开关\n为完成关闭烤面包机的开关的任务应该：爪夹向前移动远离烤面包机开关",
+            "progress_explanation": "爪夹按下烤面包机开关进度上升为75%",
+            "error_success_analysis": "爪夹向烤面包机移动按下烤面包机开关",
+            "correction_plan": "爪夹向前移动远离烤面包机开关",
+            "annotations": {
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372534194_3hf9iw1kn",
+                            "x": 0.7814001329242284,
+                            "y": 0.6422388048353987
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372535818_avpdb7aim",
+                            "x": 0.4461940500772495,
+                            "y": 0.6183223751235459
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372537634_b5oi62zdw",
+                            "x": 0.733193238066636,
+                            "y": 0.678113449403178,
+                            "width": 0.07511306873159729,
+                            "height": 0.1355264350338327
+                        }
+                    ]
+                },
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372539962_cbi95j9g8",
+                            "x": 0.5269125716992644,
+                            "y": 0.3612207557211283,
+                            "width": 0.46525258990466967,
+                            "height": 0.5560569908005778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 6.954666,
+            "frame": 209,
+            "progress": 100,
+            "action_description": "爪夹向前移动远离烤面包机开关",
+            "state_description": "爪夹向前移动远离烤面包机开关任务完成",
+            "progress_explanation": "爪夹向前移动远离烤面包机开关任务完成进度为100%",
+            "error_success_analysis": "爪夹向前移动远离烤面包机开关",
+            "correction_plan": "",
+            "annotations": {
+                "bbox_1768372421498": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421498_1768372543666_zqvl8ukpg",
+                            "x": 0.3082999089729739,
+                            "y": 0.49874022656428185,
+                            "width": 0.650232535288454,
+                            "height": 0.4304957348133505
+                        }
+                    ]
+                },
+                "bbox_1768372421666": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768372421666_1768372546778_5ulijbjyv",
+                            "x": 0.5538187455732695,
+                            "y": 0.7159811297802782,
+                            "width": 0.07735524988776428,
+                            "height": 0.12556125598722725
+                        }
+                    ]
+                },
+                "point_1768372422763": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422763_1768372548451_hmmlzjpcz",
+                            "x": 0.4495573218115001,
+                            "y": 0.6561900555006462
+                        }
+                    ]
+                },
+                "point_1768372422915": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768372422915_1768372550010_mtvsd1msb",
+                            "x": 0.7713103177214765,
+                            "y": 0.6561900555006462
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768372421498",
+            "name": "烤面包机",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768372421666",
+            "name": "烤面包机开关",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768372422763",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768372422915",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006257.json

@@ -0,0 +1,553 @@
+{
+    "task_description": "叠衣服\n开始移动：0%\n爪夹靠近衣服右角：20%\n爪夹夹紧衣服右角：40%\n爪夹靠近衣服左角：60%\n爪夹夹紧衣服左角：80%\n完成叠衣服:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹下方移动至移动上方，爪夹向爪夹右下移动，爪夹靠近衣服，爪夹合拢加紧衣服的一角，爪夹向上抬升，爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "error_success_analysis": "",
+            "frame": 3,
+            "progress": 0,
+            "progress_explanation": "未开始移动进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完叠衣服的任务应该：爪夹向爪夹下方移动至移动上方",
+            "time": 0.09932489515425216,
+            "annotations": {
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380662133_yj596asul",
+                            "x": 0.3150264524414751,
+                            "y": 0.08002153120960998,
+                            "width": 0.5807249194472744,
+                            "height": 0.5221753820421197
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380663749_giffiqe22",
+                            "x": 0.4461940500772495,
+                            "y": 0.6261133429635825
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380665165_sm1zpxcuv",
+                            "x": 0.7757946800338107,
+                            "y": 0.644050665247472
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 1.7762,
+            "frame": 53,
+            "progress": 10,
+            "action_description": "爪夹向爪夹下移动",
+            "state_description": "爪夹张开位于衣服上方\n为完叠衣服的任务应该：爪夹向爪夹右下衣服的右角移动",
+            "progress_explanation": "爪夹移动至衣服上方进度上升为10%",
+            "error_success_analysis": "爪夹向爪夹下方移动",
+            "correction_plan": "爪夹向爪夹右下移动爪夹靠近衣服，爪夹合拢加紧衣服的一角，爪夹向上抬升，爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380668316_8xrgmpwfr",
+                            "x": 0.7746735894557271,
+                            "y": 0.644050665247472
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380672390_iizyarxsu",
+                            "x": 0.1434995939946933,
+                            "y": 0.09795885349349957,
+                            "width": 0.8015797633297321,
+                            "height": 0.6796252109784839
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380676540_ngcw2ilto",
+                            "x": 0.4562838652800013,
+                            "y": 0.6560088801033984
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 4.450852,
+            "frame": 134,
+            "progress": 25,
+            "action_description": "爪夹向爪夹右下移动靠近衣服右角",
+            "state_description": "爪夹张开靠近衣服右角\n为完叠衣服的任务应该：爪夹合拢夹紧衣服右角",
+            "progress_explanation": "爪夹靠近衣服右角进度是上升为20%",
+            "error_success_analysis": "爪夹向爪夹右下移动靠近衣服右角",
+            "correction_plan": "爪夹合拢加紧衣服的一角，爪夹向上抬升，爪夹向爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380679532_1hj8ouboy",
+                            "x": 0.45964713701425197,
+                            "y": 0.644050665247472
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380681621_j928wbg2w",
+                            "x": 0.7735524988776435,
+                            "y": 0.671953166577967
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380685892_gapmlodor",
+                            "x": 0.008968724624668332,
+                            "y": 0.00627920626473048,
+                            "width": 0.7757946800338107,
+                            "height": 0.8131586102029955
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 5.338717,
+            "frame": 160,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹夹紧衣服右角\n为完叠衣服的任务应该：爪夹向上抬升\n",
+            "progress_explanation": "爪夹夹紧衣服右角进度上升为40%",
+            "error_success_analysis": "爪夹合拢夹紧衣服右角·",
+            "correction_plan": "爪夹向上抬升，爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380689932_v6kfiorgw",
+                            "x": 0.004484362312334166,
+                            "y": 0.008272242074051547,
+                            "width": 0.8486655676092407,
+                            "height": 0.7812700372538584
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380695876_5yl160njf",
+                            "x": 0.6031467310089453,
+                            "y": 0.7058347753364251
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380697220_fj4cehtmh",
+                            "x": 0.6827441620528767,
+                            "y": 0.6978626320991409
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 7.3252110176260965,
+            "frame": 220,
+            "progress": 45,
+            "action_description": "爪夹向爪夹左上移动",
+            "state_description": "爪夹夹紧衣服垂直桌面\n为完叠衣服的任务应该：爪夹向爪夹左下移动",
+            "progress_explanation": "爪夹夹紧衣服垂直桌面进度上升为50%",
+            "error_success_analysis": "爪夹夹紧衣服向爪夹左上抬升并移动",
+            "correction_plan": "爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380700620_jdzhtreq8",
+                            "x": 0.6816230714747932,
+                            "y": 0.6956883999847943
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380702284_2qauoiwbo",
+                            "x": 0.6165998179459478,
+                            "y": 0.7136257222686839
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380704764_cft9qe9hx",
+                            "x": 0.2466399271783791,
+                            "y": 0.039979618718163155,
+                            "width": 0.6513536258665376,
+                            "height": 0.8071795027750324
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 9.584852382385334,
+            "frame": 288,
+            "progress": 50,
+            "action_description": "爪夹向爪夹左下移动",
+            "state_description": "爪夹夹紧衣服位于桌子左上角\n为完叠衣服的任务应该：爪夹打开向上抬升",
+            "progress_explanation": "爪夹将衣服右角叠至左角进度上升为50%",
+            "error_success_analysis": "爪夹抓紧衣服向爪夹左下移动",
+            "correction_plan": "爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380722484_efmaz819h",
+                            "x": 0.6053889121651124,
+                            "y": 0.7098208469550672
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380723788_63asdfvct",
+                            "x": 0.689470705521378,
+                            "y": 0.7277581692389569
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380741652_ghi2o7qqf",
+                            "x": 0.3408115357373966,
+                            "y": 0.006641587470539041,
+                            "width": 0.6311739954610338,
+                            "height": 0.9327407587622594
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 12.862573922475654,
+            "frame": 386,
+            "progress": 55,
+            "action_description": "爪夹张开并向上抬升",
+            "state_description": "爪夹张开衣服右角叠至左边\n为完叠衣服的任务应该：爪夹向爪夹右上抬升移动",
+            "progress_explanation": "爪夹打开衣服右角叠至左边进度上升为55%",
+            "error_success_analysis": "爪夹打开并向爪夹方向上抬升",
+            "correction_plan": "爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380746365_fxczvx3i9",
+                            "x": 0.38341297770457117,
+                            "y": 0.010446468486276894,
+                            "width": 0.5919358252281098,
+                            "height": 0.6656739603132364
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380747892_eory7mm6g",
+                            "x": 0.4529205935457507,
+                            "y": 0.6502109632783395
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380749284_yz6tkhpfn",
+                            "x": 0.7735524988776435,
+                            "y": 0.6502109632783395
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 14.794887,
+            "frame": 444,
+            "progress": 60,
+            "action_description": "爪夹向爪夹下方衣服左角移动",
+            "state_description": "爪夹张开靠近衣服左角\n为完叠衣服的任务应该：爪夹合拢",
+            "progress_explanation": "爪夹靠近衣服左角进度上升为60%",
+            "error_success_analysis": "爪夹向爪夹下方衣服左角移动靠近衣服左角",
+            "correction_plan": "爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380752996_1zhe0goro",
+                            "x": 0.7399197815351373,
+                            "y": 0.6839113814338934
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380754436_7a4epf1d5",
+                            "x": 0.49440094493484177,
+                            "y": 0.6360785220101878
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380758652_ge6qcm2eq",
+                            "x": 0.13453086937002495,
+                            "y": 0.0022931346460883448,
+                            "width": 0.8576342922339091,
+                            "height": 0.8231237892496008
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 15.68267,
+            "frame": 470,
+            "progress": 80,
+            "action_description": "爪夹合拢夹紧衣服左角",
+            "state_description": "爪夹夹紧衣服左角\n为完叠衣服的任务应该：爪夹向爪夹右上移动",
+            "progress_explanation": "爪夹夹紧衣服左角进度上升为80%",
+            "error_success_analysis": "爪夹合拢夹紧衣服左角",
+            "correction_plan": "爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380762988_mwj57y9sn",
+                            "x": 0.15358940919744518,
+                            "y": 0.0022931346460883448,
+                            "width": 0.8228804843133194,
+                            "height": 0.7892421804911426
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380764236_twwfxte7f",
+                            "x": 0.6031467310089453,
+                            "y": 0.6898904888618566
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380765893_ptwhte5vm",
+                            "x": 0.6704121656939577,
+                            "y": 0.6819183456245723
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 17.754325008822573,
+            "frame": 533,
+            "progress": 85,
+            "action_description": "爪夹向爪夹右上移动",
+            "state_description": "爪夹夹紧衣服垂直桌面\n为完叠衣服的任务应该：爪夹爪夹向爪夹右下角移动",
+            "progress_explanation": "爪夹夹紧衣服最近移动进度上升为85%",
+            "error_success_analysis": "抓紧啊夹紧衣服左角向爪夹右上移动",
+            "correction_plan": "爪夹向爪夹右下角移动靠近桌面爪夹张开",
+            "annotations": {
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380771228_fofqnw2ra",
+                            "x": 0.6715332562720413,
+                            "y": 0.6799253098152512
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380772828_2wgi8zmwz",
+                            "x": 0.6009045498527782,
+                            "y": 0.6580019159127195
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380776188_yqf6vyaxa",
+                            "x": 0.08856615566859977,
+                            "y": 0.0022931346460883448,
+                            "width": 0.8688451980147447,
+                            "height": 0.7234719987835474
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 19.555392,
+            "frame": 587,
+            "progress": 95,
+            "action_description": "爪夹向爪夹右下移动 ",
+            "state_description": "爪夹夹紧衣服左角位于桌面右方\n为完叠衣服的任务应该：爪夹打开",
+            "progress_explanation": "爪夹将衣服左角移动至右边进度上升为95%",
+            "error_success_analysis": "爪夹向爪夹右下移动",
+            "correction_plan": "爪夹张开使衣服左角落在桌面上",
+            "annotations": {
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380780180_xp0qbetdy",
+                            "x": 0.011210905780835414,
+                            "y": 0.24145743176461643,
+                            "width": 0.8834193755298306,
+                            "height": 0.7174928913555843
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380786093_n5hqrs59e",
+                            "x": 0.5997834592746947,
+                            "y": 0.6839113814338934
+                        }
+                    ]
+                },
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380787604_xpr6d83ta",
+                            "x": 0.6928339772556286,
+                            "y": 0.6958695962898198
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 20.7589030872387,
+            "frame": 623,
+            "progress": 100,
+            "action_description": "爪夹打开",
+            "state_description": "爪夹张开衣服叠好任务完成",
+            "progress_explanation": "完成叠衣服任务进度为100%",
+            "error_success_analysis": "爪夹张开使衣服左角落在右边",
+            "correction_plan": "",
+            "annotations": {
+                "point_1768380643932": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643932_1768380790628_48eb8av7x",
+                            "x": 0.7735524988776435,
+                            "y": 0.6380715578195089
+                        }
+                    ]
+                },
+                "point_1768380643588": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768380643588_1768380791860_qlsqp8qax",
+                            "x": 0.4517995029676672,
+                            "y": 0.6560088801033984
+                        }
+                    ]
+                },
+                "bbox_1768380642437": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768380642437_1768380794420_5w3nccj1n",
+                            "x": 0.14574177515086037,
+                            "y": 0.010265277883372614,
+                            "width": 0.7634626836748917,
+                            "height": 0.8430541473428115
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768380642437",
+            "name": "衣服",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768380643588",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768380643932",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006403.json

@@ -0,0 +1,333 @@
+{
+    "task_description": "关闭抽屉。\n准备开始移动：0%。\n爪夹向下移动25%\n爪夹靠近抽屉：50%\n爪夹准备推动抽屉：75%\n爪夹向爪夹后方移动推动抽屉：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹下方移动，爪夹垂直地面，爪夹水平位置与抽屉处在同一个高度，爪夹向爪夹后方移动推动抽屉到闭合状态。",
+            "error_success_analysis": "",
+            "frame": 21,
+            "progress": 0,
+            "progress_explanation": "当前是初始状态，远离抽屉，未开始移动，当前进度为：0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离抽屉。",
+            "time": 0.7068952689293762,
+            "annotations": {
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808151257_vfm3sxhgw",
+                            "x": 0.7686665790608778,
+                            "y": 0.6406666531032986
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹下方移动，爪夹到达抽屉的水平高低，向后移动爪夹推动抽屉，使抽屉完全闭合。",
+            "error_success_analysis": "爪夹垂直于地面，方便推动抽屉。",
+            "frame": 27,
+            "progress": 10,
+            "progress_explanation": "爪夹与地面角度垂直，方便推动抽屉，因此进度提升到10%。",
+            "state_description": "爪夹张开，爪夹垂直于地面。还未接近抽屉。\n为了完成关闭抽屉的任务应当：爪夹向爪夹正下方移动，爪夹与抽屉水平高度一致，爪夹向爪夹后方移动推动抽屉，完全闭合抽屉。",
+            "time": 1.8,
+            "annotations": {
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808158008_ytgsbpa8t",
+                            "x": 0.7646665793050184,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正下方移动。",
+            "correction_plan": "爪夹向爪夹右侧移动到地面上发，爪夹向爪夹下方移动到抽屉的水平位置，爪夹向爪夹左侧移动推动抽屉使抽屉关闭。",
+            "error_success_analysis": "爪夹张开，爪夹向下移动，靠近抽屉，方便关闭抽屉。",
+            "frame": 50,
+            "progress": 25,
+            "progress_explanation": "爪夹向爪夹下方移动，靠近抽屉，因此进度提升到20%。",
+            "state_description": "爪夹张开，爪夹缩短了与抽屉的距离，爪夹垂直于地面。\n为了完成关闭抽屉的任务应当：爪夹向爪夹右侧移动，移动到地面正上方，向下移动爪夹到抽屉的水平位置，爪夹向爪夹左侧移动，关闭抽屉。",
+            "time": 3.3333333333333335,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808171648_x75i72885",
+                            "x": 0.15666661641439109,
+                            "y": 0.03444443088107639,
+                            "width": 0.6399999609375023,
+                            "height": 0.8391111111111113
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808173224_11zjis7ez",
+                            "x": 0.45866659798177495,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808174992_1ppzsv8c9",
+                            "x": 0.766666579182948,
+                            "y": 0.6477777642144098
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "correction_plan": "爪夹向爪夹正上方移动，爪夹高于抽屉，爪夹向右方移动到地面正上方，爪夹向爪夹正下方移动到抽屉的水���位置，爪夹向爪夹左侧移动推动抽屉到闭合状态。",
+            "error_success_analysis": "爪夹向下移动，爪夹伸入抽屉内部，无法完成关闭抽屉的动作。",
+            "frame": 73,
+            "progress": -10,
+            "progress_explanation": "爪夹向爪夹正下方移动，爪夹进入抽屉内部，无法完成关闭抽屉。因此进度降低到-10%。",
+            "state_description": "爪夹向下移动，爪夹伸到抽屉内部。\n为了完成关闭抽屉的任务应当：爪夹向爪夹上方移动，爪夹向爪夹右方移动到地面正上方，向下移动爪夹到抽屉的水平位置，爪夹向爪夹左侧移动，关闭抽屉。",
+            "time": 4.866666666666666,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808183103_u0h3xodlj",
+                            "x": 0.0016666258748397292,
+                            "y": 0.004222208658854167,
+                            "width": 0.759999953613284,
+                            "height": 0.9244444444444445
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808185160_m6zbchdmq",
+                            "x": 0.45866659798177495,
+                            "y": 0.6655555419921876
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808187423_us5oc8h09",
+                            "x": 0.7986665772298231,
+                            "y": 0.6904444308810764
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正上方移动。",
+            "correction_plan": "爪夹想爪夹右侧移动到地板的正上方，爪夹向爪夹正下方移动到抽屉的水平方向，向左移动推动抽屉到闭合状态。",
+            "error_success_analysis": "爪夹向爪夹正上方移动到抽屉正上方，方便爪夹接近抽屉的水平位置。",
+            "frame": 82,
+            "progress": 25,
+            "progress_explanation": "爪夹向爪夹正上方移动到抽屉的正上方，因此进度提升到20%。",
+            "state_description": "爪夹向爪夹正上方移动到高于抽屉的位置，接近抽屉。\n为了完成关闭抽屉的任务应当：爪夹向爪夹右方移动到地板正上方，向下移动爪夹到抽屉的水平位置，向左移动爪夹推动抽屉到闭合状态。",
+            "time": 5.466666666666667,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808203415_23w26t0vg",
+                            "x": 0.3236666062215206,
+                            "y": 0.011333319769965277,
+                            "width": 0.4719999711914079,
+                            "height": 0.8462222222222223
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808205143_dkwk6ptbv",
+                            "x": 0.4576665980428102,
+                            "y": 0.6548888753255209
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808206800_g7ep09csn",
+                            "x": 0.7646665793050184,
+                            "y": 0.6406666531032986
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动。",
+            "correction_plan": "爪夹向下移动爪夹到抽屉的水平位置，向左移动爪夹推动抽屉到关闭状态。",
+            "error_success_analysis": "爪夹向爪夹右方移动，靠近抽屉，方便推动抽屉。",
+            "frame": 94,
+            "progress": 50,
+            "progress_explanation": "爪夹靠近抽屉，方便调整位置推动抽屉，因此进度提升到50%。",
+            "state_description": "爪夹向爪夹右方移动，远离抽屉垂直位置，靠近抽屉。\n为了完成关闭抽屉的任务应当：爪夹向爪夹下方移动，到达抽屉��平位置，向左侧移动爪夹推动抽屉到关闭状态。",
+            "time": 6.266666666666667,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808213463_z7eizdcg9",
+                            "x": 0.002666625813804577,
+                            "y": -0.0011111246744791668,
+                            "width": 0.43899997320556805,
+                            "height": 0.8853333333333333
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808214848_ohwvy5m8m",
+                            "x": 0.4486665985921265,
+                            "y": 0.6442222086588542
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808243464_xa26dsvho",
+                            "x": 0.7916665776570692,
+                            "y": 0.6975555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动，调整爪夹角度垂直地面。",
+            "correction_plan": "爪夹向爪夹左侧移动，推动抽屉到闭合状态。",
+            "error_success_analysis": "爪夹接近了抽屉外部，方便推动抽屉。",
+            "frame": 121,
+            "progress": 75,
+            "progress_explanation": "爪夹准备推动抽屉，因此进度提升到75%。",
+            "state_description": "爪夹向下移动，准备推动抽屉。\n为了完成关闭抽屉的任务应当：爪夹向左移动推动抽屉到闭合状态。",
+            "time": 8.066666666666666,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808252503_97poody8g",
+                            "x": 0.0016666258748397292,
+                            "y": 0.0006666531032986111,
+                            "width": 0.5729999650268576,
+                            "height": 0.9262222222222222
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808263038_0j4jakkqh",
+                            "x": 0.42666659993489986,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808264934_wo50q96ia",
+                            "x": 0.7576665797322644,
+                            "y": 0.669111097547743
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左移动。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹推动抽屉使抽屉完成闭合。",
+            "frame": 151,
+            "progress": 100,
+            "progress_explanation": "爪夹向左移动推动抽屉到关闭状态，因此进度提升到100%。",
+            "state_description": "爪夹向左移动，爪夹推动抽屉到闭合状态，完成关闭抽屉的任务。",
+            "time": 10.066666666666666,
+            "annotations": {
+                "bbox_1768808092826": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808092826_1768808276934_in0z59gp5",
+                            "x": 0.02866662422689061,
+                            "y": 0.007777764214409723,
+                            "width": 0.366999977600099,
+                            "height": 0.5599999999999999
+                        }
+                    ]
+                },
+                "point_1768808093482": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093482_1768808278789_xnpvw748s",
+                            "x": 0.45666659810384524,
+                            "y": 0.6584444308810764
+                        }
+                    ]
+                },
+                "point_1768808093690": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808093690_1768808280701_o3te6on9h",
+                            "x": 0.7646665793050184,
+                            "y": 0.6442222086588542
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808092826",
+            "name": "抽屉",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808093482",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808093690",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006664.json

@@ -0,0 +1,365 @@
+{
+    "task_description": "抓取士力架放置到高台上。\n准备开始移动：0%\n爪夹靠近士力架：20%\n爪夹抓取士力架：40%\n提升爪夹高度：60%\n移动到高台上：80%\n松开爪夹：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹下方移动到士力架的正上方，落下爪夹靠近士力架，合拢爪夹抓取士力架。爪夹抓紧士力架垂直向上移动，高度高于高台，爪夹向爪夹后方移动，水平位置达到高台上放，松开爪夹放置士力架，使其落到高台之上。",
+            "error_success_analysis": "",
+            "frame": 19,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，爪夹未移动，远离士力架，因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离士力架，未开始移动。\n为完成抓取士力架并放置到高台上的任务应当：爪夹向下移动，调整爪夹角度使其垂直于桌面，并移动到士力架正上方。",
+            "time": 0.6414655273634114,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808324788_27tnqn93x",
+                            "x": 0.6586665857747445,
+                            "y": 0.4237777642144097,
+                            "width": 0.08799999462890655,
+                            "height": 0.28266666666666673
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808338988_1jt6478q7",
+                            "x": 0.45866659798177495,
+                            "y": 0.6442222086588542
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808341227_25wg2v6ym",
+                            "x": 0.766666579182948,
+                            "y": 0.6193333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右下方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹正下方移动，靠近士力架，合拢爪夹抓取士力架。紧抓士力架，爪夹向爪夹正上方移动高于高台，爪夹向爪夹后方移动，水平达到高台正上方，松开爪夹放置士力架。",
+            "error_success_analysis": "爪夹与桌面垂直，位于士力架正上方，还未接近士力架。",
+            "frame": 83,
+            "progress": 10,
+            "progress_explanation": "爪夹向爪夹右下方移动，爪夹与桌面垂直，垂直接近士力架，因此进度提升到10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面垂直，还未接近士力架。\n为完成抓取士力架并放置到高台上的任务应当：爪夹向爪夹下方移动，靠近士力架，同时调整爪夹角度，并移动到士力架正上方。",
+            "time": 2.7813966164242077,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808349692_80qmwnuvh",
+                            "x": 0.4996665954793337,
+                            "y": 0.40955554199218747,
+                            "width": 0.07799999523925809,
+                            "height": 0.40888888888888886
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808352043_inmt32sha",
+                            "x": 0.46166659779866953,
+                            "y": 0.6495555419921875
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808353868_p0b6maqg3",
+                            "x": 0.766666579182948,
+                            "y": 0.6193333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动",
+            "correction_plan": "合拢爪夹，抓紧士力架垂���向上移动，高于高台并向爪夹后方移动到高台正上方，松开爪夹放置士力架。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了士力架，方便抓取。",
+            "frame": 153,
+            "progress": 20,
+            "progress_explanation": "爪夹接近士力架，爪夹角度垂直于桌面，方便抓取，因此进度提升到20%。",
+            "state_description": "爪夹垂直于桌面，靠近士力架，准备抓取士力架。\n为完成抓取士力架并放置到高台上的任务应当：爪夹合拢抓取士力架，抓紧士力架垂直升高并且高于高台，爪夹向爪夹正后方移动到高台正上方，松开爪夹放置士力架。",
+            "time": 5.106069957778021,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808358923_zygrikbm1",
+                            "x": 0.5586665918782597,
+                            "y": 0.30111109754774307,
+                            "width": 0.14899999090576221,
+                            "height": 0.5546666666666666
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808361267_akm4rceig",
+                            "x": 0.45866659798177495,
+                            "y": 0.6495555419921875
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808363187_3gbfnick1",
+                            "x": 0.766666579182948,
+                            "y": 0.6175555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "抓紧士力架并向爪夹正上方移动，爪夹高度高于高台，爪夹向爪夹正后方移动到高台正上方，松开爪夹放置士力架。",
+            "error_success_analysis": "爪夹垂直于桌面，方便抓取到士力架。",
+            "frame": 198,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到士力架，因此进度提升到40%。",
+            "state_description": "爪夹合拢抓取到士力架，爪夹垂直于桌面。\n为完成抓取士力架并放置到高台上的任务应当：抓紧士力架向爪夹正上方垂直移动并高于高台，爪夹向爪夹正后方移动到高台正上方，松开爪夹放置士力架到高台上。",
+            "time": 6.599403163813252,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808369252_7j4jzr69w",
+                            "x": 0.543666592793787,
+                            "y": 0.21222220865885416,
+                            "width": 0.13199999194335987,
+                            "height": 0.6008888888888889
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808371044_5b0pmj3kb",
+                            "x": 0.5576665919392949,
+                            "y": 0.5784444308810764
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808373011_jv60wiv6q",
+                            "x": 0.6586665857747445,
+                            "y": 0.5944444308810763
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓紧士力架，向爪夹左上方移动。",
+            "correction_plan": "爪夹向爪夹正上方移动，爪夹高于高台，并向爪夹后方移动到高台正上方，松开爪夹放置士力架。",
+            "error_success_analysis": "爪夹抓紧士力架并向爪夹左上方移动，方便接近高台。",
+            "frame": 118,
+            "progress": 50,
+            "progress_explanation": "爪夹抓紧士力架并向左上方移动，因此进度提升到50%。",
+            "state_description": "爪夹合拢紧抓士力架。\n为完成抓取士力架并放置到高台上的任务应当：爪夹抓紧士力架并向爪夹正上方移动��高于高台，向后移动爪夹到高台正上方，",
+            "time": 7.866666666666666,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808401474_5m74z58wn",
+                            "x": 0.5446665927327519,
+                            "y": 0.21755554199218752,
+                            "width": 0.13299999188232467,
+                            "height": 0.6364444444444445
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808403354_ca7axubpe",
+                            "x": 0.5596665918172246,
+                            "y": 0.5837777642144097
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808405082_m2y8zlcjf",
+                            "x": 0.6456665865682014,
+                            "y": 0.5944444308810763
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓紧士力架，爪夹向正上方移动。",
+            "correction_plan": "爪夹向爪夹后方移动到高台正上方，松开爪夹放置士力架。",
+            "error_success_analysis": "爪夹垂直位置高于高台，方便移动到高台正上方。",
+            "frame": 138,
+            "progress": 60,
+            "progress_explanation": "爪夹垂直位置高于高台，因此进度提升到60%。",
+            "state_description": "爪夹抓紧士力架，爪夹与桌面呈70度，垂直位置高于高台。\n为完成抓取士力架并放置到高台上的任务应当：爪夹抓紧士力架，向后移动爪夹到高台正上方，松开爪夹放置士力架。",
+            "time": 9.2,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808411194_cfzmcpm9h",
+                            "x": 0.5396665930379276,
+                            "y": 0.21399998643663196,
+                            "width": 0.15799999035644588,
+                            "height": 0.5973333333333333
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808412802_ghmpv549u",
+                            "x": 0.5596665918172246,
+                            "y": 0.5784444308810764
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808414754_xaf445p0c",
+                            "x": 0.6526665861409554,
+                            "y": 0.5855555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧士力架，调整爪夹角度，爪夹向爪夹正后方移动",
+            "correction_plan": "松开爪夹，使士力架落到高台上。",
+            "error_success_analysis": "爪夹移动到高台正上方，方便放置士力架。",
+            "frame": 343,
+            "progress": 80,
+            "progress_explanation": "爪夹垂直于高台，位于高台正上方，方便放置士力架，因此进度提升到80%。",
+            "state_description": "爪夹夹紧士力架，爪夹垂直于高台，位于高台正上方。",
+            "time": 11.448887286504982,
+            "annotations": {
+                "bbox_1768808295301": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808295301_1768808430306_7o8bb7x8s",
+                            "x": 0.5426665928548221,
+                            "y": 0.22111109754774308,
+                            "width": 0.13899999151611384,
+                            "height": 0.663111111111111
+                        }
+                    ]
+                },
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808432337_0loyhehys",
+                            "x": 0.5616665916951542,
+                            "y": 0.5944444308810763
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808434225_5j2o0bqy8",
+                            "x": 0.654666586018885,
+                            "y": 0.5944444308810763
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹松开，爪夹向正前方移动。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，士力架落到高台之上。",
+            "frame": 223,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，士力架落到高台之上，任务完成。因此进度提升到100%。",
+            "state_description": "爪夹张开，爪夹垂直于桌面。\n爪夹松开士力架落于高台之上的人物完成。",
+            "time": 14.866666666666667,
+            "annotations": {
+                "point_1768808302533": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302533_1768808462952_ioz0mud0r",
+                            "x": 0.4576665980428102,
+                            "y": 0.6406666531032986
+                        }
+                    ]
+                },
+                "point_1768808302709": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808302709_1768808465152_z62diizfm",
+                            "x": 0.7686665790608778,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808295301",
+            "name": "士力架",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808302533",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808302709",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006747.json

@@ -0,0 +1,333 @@
+{
+    "task_description": "向左轻微移动卷尺\n开始准备移动：0%。\n爪夹靠近卷尺：25%\n爪夹抓取卷尺：50%\n爪夹向爪夹左侧移动：75%\n松开爪夹：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹右下方移动，靠近卷尺，调整爪夹角度使其垂直于桌面，接着落下爪夹抓取卷尺后垂直升高，爪夹向爪夹左侧稍微移动然后松开爪夹，放置卷尺。",
+            "error_success_analysis": "",
+            "frame": 25,
+            "progress": 0,
+            "progress_explanation": "当前爪夹未开始移动，爪夹张开，远离卷尺，因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离卷尺。\n为完成抓取卷尺向左轻微移动的任务应当：爪夹向爪夹的右下方移动，同时调整爪夹与桌面的角度使其与地面垂直，并移动到卷尺的正上方。",
+            "time": 0.8408701955042766,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808522831_m7s9g1vra",
+                            "x": 0.6986665833333384,
+                            "y": 0.5446666531032986,
+                            "width": 0.09299999432373074,
+                            "height": 0.16533333333333336
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808525160_7fdbac2fp",
+                            "x": 0.4556665981648805,
+                            "y": 0.6388888753255209
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808527191_qi1ss14lu",
+                            "x": 0.7636665793660534,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向后方移动，爪夹垂直桌面。",
+            "correction_plan": "爪夹向爪夹右下方移动，靠近卷尺，接着落下爪夹抓取卷尺后垂直升高，爪夹向爪夹左侧稍微移动然后松开爪夹，放置卷尺。",
+            "error_success_analysis": "爪夹垂直于桌面，方便靠近卷尺。",
+            "frame": 44,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹后方移动，爪夹垂直于桌面，方便调整方向。因此进度提升到5%。",
+            "state_description": "爪夹张开，爪夹向爪夹后方移动，调整爪夹角度垂直地面。\n为完成抓取卷尺向左轻微移动的任务应当：爪夹向爪夹有下方移动，同时调整爪夹角度使其垂直于桌面，并移动到卷尺的正上方。",
+            "time": 1.4630007656364041,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808533791_rmg8odzqn",
+                            "x": 0.7046665829671275,
+                            "y": 0.365111097547743,
+                            "width": 0.1239999924316411,
+                            "height": 0.21866666666666668
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808536063_zutqcbikv",
+                            "x": 0.4546665982259156,
+                            "y": 0.6566666531032986
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808537831_4t8xnsrnv",
+                            "x": 0.759666579610194,
+                            "y": 0.6513333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动",
+            "correction_plan": "爪夹向爪夹下方移动，合拢抓夹抓取卷尺，提高爪夹并向爪夹左侧轻微移动，松开爪夹放置卷尺。",
+            "error_success_analysis": "爪夹向爪夹右方移动，位于卷尺正上方，方便抓取，因��进度提升到15%。",
+            "frame": 66,
+            "progress": 15,
+            "progress_explanation": "爪夹向爪夹右侧移动，位于卷尺的正上方，方便抓取卷尺，因此进度提升到15%。",
+            "state_description": "爪夹张开，爪夹垂直于桌面，还未接近卷尺。\n为完成抓取卷尺向左轻微移动的任务应当：爪夹向爪夹下方移动，靠近卷尺，合拢爪夹抓取卷尺，爪夹向爪夹左侧移动，松开爪夹放置卷尺。",
+            "time": 2.1873993746943605,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808541927_ox3bzp4u2",
+                            "x": 0.5516665923055057,
+                            "y": 0.40244443088107634,
+                            "width": 0.13699999163818405,
+                            "height": 0.24888888888888897
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808543486_wm48j63iv",
+                            "x": 0.4556665981648805,
+                            "y": 0.6708888753255209
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808545423_o5xo7g4wx",
+                            "x": 0.7626665794270886,
+                            "y": 0.6548888753255209
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动，调整爪夹角度。",
+            "correction_plan": "合拢爪夹，抓取卷尺，爪夹向爪夹左侧轻微移动，松开爪夹放置卷尺。",
+            "error_success_analysis": "爪夹垂直于桌面，方便抓取卷尺。",
+            "frame": 112,
+            "progress": 25,
+            "progress_explanation": "爪夹接近卷尺，方便抓取，因此进度提升到25%。",
+            "state_description": "爪夹垂直桌面，靠近卷尺，准备抓取卷尺。\n为完成抓取卷尺向左轻微移动的任务应当：合拢抓夹，抓取卷尺，爪夹向左侧轻微移动，松开爪夹放置卷尺。",
+            "time": 3.7469869683132546,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808552503_3rxu6b053",
+                            "x": 0.45666659810384524,
+                            "y": 0.5251110975477431,
+                            "width": 0.21499998687744223,
+                            "height": 0.34311111111111103
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808554374_44dhf1k7q",
+                            "x": 0.4486665985921265,
+                            "y": 0.6797777642144097
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808556269_9ftodugc8",
+                            "x": 0.7636665793660534,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹抓紧卷尺并向爪夹左侧轻微移动，松开爪夹放置卷尺。",
+            "error_success_analysis": "爪夹垂直与桌面，方便抓取卷尺。",
+            "frame": 158,
+            "progress": 50,
+            "progress_explanation": "爪夹抓取卷尺，因此进度提升到50%。",
+            "state_description": "爪夹合拢抓取到卷尺。\n为完成抓取卷尺向左轻微移动的任务应当：抓紧卷尺垂直升高爪夹高度，爪夹向爪夹左侧轻微移动，松开爪夹放置卷尺。",
+            "time": 5.255440542469235,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808561030_pwx99eb36",
+                            "x": 0.4766665968831423,
+                            "y": 0.4451110975477431,
+                            "width": 0.29499998199462996,
+                            "height": 0.4355555555555556
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808562774_othsaye1e",
+                            "x": 0.4986665955403689,
+                            "y": 0.6228888753255208
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808564398_qzsqncvc6",
+                            "x": 0.726666581624354,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓紧卷尺，向爪夹左侧移动。",
+            "correction_plan": "松开爪夹，放置卷尺到桌面上。",
+            "error_success_analysis": "爪夹合拢抓紧卷尺并想爪夹左侧移动，方便放置卷尺。",
+            "frame": 217,
+            "progress": 75,
+            "progress_explanation": "爪夹抓取卷尺向左侧移动，因此进度提升到75%。",
+            "state_description": "爪夹抓紧卷尺，垂直桌面。\n为完成抓取卷尺向左轻微移动的任务应当：爪夹向爪夹左侧移动，松开爪夹放置卷尺。",
+            "time": 7.232622628368598,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808571397_ie2zw9jo5",
+                            "x": 0.48866659615072044,
+                            "y": 0.4486666531032986,
+                            "width": 0.26399998388671964,
+                            "height": 0.43200000000000005
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808573302_58b9oiyfw",
+                            "x": 0.4996665954793337,
+                            "y": 0.6353333197699652
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808574949_ecn04y3r5",
+                            "x": 0.7376665809529674,
+                            "y": 0.6495555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，卷尺落到桌面。",
+            "frame": 122,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，卷尺落到桌面上，任务完成，因此任务进度提升到100%。",
+            "state_description": "爪夹张开，保持角度垂直于桌面。\n爪夹张开放置卷尺到桌面上的任务目标完成。",
+            "time": 8.2,
+            "annotations": {
+                "bbox_1768808503217": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808503217_1768808580613_mv8jbpoke",
+                            "x": 0.44266659895833743,
+                            "y": 0.20333331976996527,
+                            "width": 0.2189999866333016,
+                            "height": 0.39644444444444454
+                        }
+                    ]
+                },
+                "point_1768808510400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510400_1768808582533_h8k1u147l",
+                            "x": 0.45166659840902107,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                },
+                "point_1768808510752": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808510752_1768808584181_9alflvxef",
+                            "x": 0.7616665794881238,
+                            "y": 0.6495555419921875
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808503217",
+            "name": "卷尺",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808510400",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808510752",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007592.json

@@ -0,0 +1,387 @@
+{
+    "task_description": "关闭左侧柜门。\n爪夹初始状态：0%\n爪夹向上移动到柜门的水平位置：25%\n爪夹向左移动到柜门左侧：50%\n爪夹向右移动推动柜门关闭：75%\n爪夹回到初始位置：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹正上方移动，到达柜门水平位置 ，爪夹向爪夹左侧移动到柜门左侧位置，爪夹向右方移动推动柜门移动到关闭状态，爪夹向右下方移动到初始位置。",
+            "error_success_analysis": "",
+            "frame": 24,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，爪夹为移动，因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离左侧柜门，未开始移动。\n为了完成爪夹关闭柜门的任务应当：爪夹向爪夹正上方移动，到达柜门水平位置 ，爪夹向爪夹左侧移动到柜门左侧位置。",
+            "time": 0.793011930625684
+        },
+        {
+            "action_description": "爪夹向左上方移动。",
+            "correction_plan": "爪夹向爪夹上方移动到柜门水平位置，向左移动爪夹到柜门左侧，想爪夹右前方移动推动柜门关闭，爪夹向右下方移动回归初始位置。",
+            "error_success_analysis": "爪夹向左上方略微移动，靠近柜门，方便推动柜门。",
+            "frame": 41,
+            "progress": 10,
+            "progress_explanation": "爪夹略微向左上方移动，靠近柜门，因此进度提升到5%。",
+            "state_description": "爪夹略微移动缩短了与柜门的距离。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹上方移动到柜门水平位置，向左移动爪夹到柜门左侧。",
+            "time": 1.3545239097267443,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808642906_oingj9vy6",
+                            "x": 0.4926665959065798,
+                            "y": 0.0006666531032986111,
+                            "width": 0.11199999316406287,
+                            "height": 0.6595555555555556
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808703010_onxhsntkf",
+                            "x": 0.7216665819295298,
+                            "y": 0.5322222086588542
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808705818_tuju2gqam",
+                            "x": 0.8496665741170304,
+                            "y": 0.4824444308810764
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左上方移动。",
+            "correction_plan": "爪夹向爪夹左侧移动到柜门的左侧，爪夹向爪夹右前方移动推动柜门关闭，爪夹向右下方移动回到初始位置。",
+            "error_success_analysis": "爪夹向爪夹左上方移动到柜门水平位置，接近柜门，方便爪夹关闭柜门。",
+            "frame": 88,
+            "progress": 25,
+            "progress_explanation": "爪夹向爪夹左上方移动，靠近柜门水平位置，因此进度提升到25%。",
+            "state_description": "爪夹张开，略微缩短了爪夹与柜门的距离。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹左侧移动到柜门的左侧，爪夹向爪夹右前方移动推动柜门关闭，爪夹向右下方移动回到初始位置。",
+            "time": 2.9356234298270985,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808714874_ao8qanzl8",
+                            "x": 0.497666595601404,
+                            "y": 0.030888875325520832,
+                            "width": 0.11899999273681683,
+                            "height": 0.608
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808716929_q4k5o8g3a",
+                            "x": 0.6166665883382209,
+                            "y": 0.24244443088107637
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808718689_wdtjj1n1v",
+                            "x": 0.6846665841878304,
+                            "y": 0.09844443088107639
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动。",
+            "correction_plan": "向左移动爪夹到柜门的左侧位置，爪夹向爪夹右前方移动，爪夹推动柜门关闭。",
+            "error_success_analysis": "爪夹想左前方移动接近柜门，方便关闭柜门。",
+            "frame": 63,
+            "progress": 35,
+            "progress_explanation": "爪夹向左前方移动，靠近柜门，因此进度提升到35%。",
+            "state_description": "爪夹与柜门的距离缩短。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹左侧移动到柜门的左侧，爪夹向爪夹右前方移动推动柜门关闭。",
+            "time": 4.2,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808725249_27wsvd0gu",
+                            "x": 0.4936665958455446,
+                            "y": 0.01844443088107639,
+                            "width": 0.11799999279785203,
+                            "height": 0.6222222222222222
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808727089_nzo1wf8up",
+                            "x": 0.5446665927327519,
+                            "y": 0.34022220865885416
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808729009_p9hb155p1",
+                            "x": 0.6076665888875372,
+                            "y": 0.26022220865885415
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左侧移动。",
+            "correction_plan": "爪夹向爪夹右前方移动，推动柜门关闭，爪夹向爪夹右下方移动回到初始位置。",
+            "error_success_analysis": "爪夹移动到柜门左侧，方便关闭柜门。",
+            "frame": 195,
+            "progress": 50,
+            "progress_explanation": "爪夹移动到柜门左侧，方便推动柜门关闭，因此进度提升到50%。",
+            "state_description": "爪夹向左侧移动到柜门左侧。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹右前方移动，推动柜门关闭，爪夹向右下方移动到初始位置。",
+            "time": 6.511568138839116,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808734202_n7q1ci9pu",
+                            "x": 0.4966665956624392,
+                            "y": 0.004222208658854167,
+                            "width": 0.11599999291992225,
+                            "height": 0.6364444444444445
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808736169_41q30n76l",
+                            "x": 0.4366665993245483,
+                            "y": 0.3597777642144097
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808737977_ngxyi2l6h",
+                            "x": 0.4936665958455446,
+                            "y": 0.2833333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹前方移动。",
+            "correction_plan": "爪夹向爪夹右侧移动，推动柜门关闭，爪夹向抓夹右下方移动回归初始位置。",
+            "error_success_analysis": "抓夹向爪夹前方移动到柜门左侧水平位置，方便���夹向右移动推动柜门关闭。",
+            "frame": 230,
+            "progress": 60,
+            "progress_explanation": "抓夹向爪夹前方移动到柜门的左侧水平位置，因此进度提升到60%。",
+            "state_description": "爪夹向抓夹前方移动，接近柜门左侧位置。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹右方移动，推动柜门关闭。",
+            "time": 7.664145359099186,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808743337_anf78xbne",
+                            "x": 0.48466659639486104,
+                            "y": -0.0011111246744791668,
+                            "width": 0.13399999182128958,
+                            "height": 0.6435555555555555
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808745833_lhyebm0sa",
+                            "x": 0.4526665983479859,
+                            "y": 0.3882222086588542
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808747776_mkp36djg3",
+                            "x": 0.5026665952962283,
+                            "y": 0.3295555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动。",
+            "correction_plan": "爪夹向爪夹右后方移动，回归初始位置。",
+            "error_success_analysis": "爪夹靠近柜门左侧水平位置，爪夹向爪夹左侧移动推动柜门关闭。",
+            "frame": 305,
+            "progress": 75,
+            "progress_explanation": "爪夹向右侧移动推动柜门关闭，因此进度提升到75%。",
+            "state_description": "爪夹角度与地面呈30度，爪夹向爪夹右方移动。\n为完成爪夹推动柜门关闭的任务应当：爪夹向右下方移动到初始位置。",
+            "time": 10.176172634024983,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808753616_47iiwhm9r",
+                            "x": 0.583666590352381,
+                            "y": 0.0006666531032986111,
+                            "width": 0.2079999873046882,
+                            "height": 0.64
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808756633_wxipkqk6h",
+                            "x": 0.694666583577479,
+                            "y": 0.35799998643663195
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808758601_ekbxqr3fn",
+                            "x": 0.7426665806477917,
+                            "y": 0.277999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右后方移动。",
+            "correction_plan": "爪夹向爪夹右方移动，回到初始位置",
+            "error_success_analysis": "爪夹向右后方移动，接近初始位置。",
+            "frame": 366,
+            "progress": 85,
+            "progress_explanation": "爪夹向爪夹右后方移动，接近初始位置，因此进度提升到85%。",
+            "state_description": "爪夹与地面夹角呈45度，爪夹向爪夹右后方移动。\n为完成爪夹推动柜门关闭的任务应当：爪夹向爪夹右侧移动，回归初始位置。",
+            "time": 12.197666,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808766897_pytiw7f94",
+                            "x": 0.5776665907185918,
+                            "y": 0.004222208658854167,
+                            "width": 0.23599998559570395,
+                            "height": 0.632888888888889
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808768865_p5q8m5lw8",
+                            "x": 0.5786665906575567,
+                            "y": 0.5339999864366319
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808770688_xf1ni9t2i",
+                            "x": 0.642666586751307,
+                            "y": 0.4877777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右后方移动。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹向爪夹右后方移动，回到初始位置，完成了目标",
+            "frame": 214,
+            "progress": 100,
+            "progress_explanation": "爪夹回到初始位置，因此进度提升到100%。",
+            "state_description": "爪夹张开，爪夹向爪夹右后方移动，回到初始位置。完成了爪夹关闭左侧柜门的目标任务。",
+            "time": 14.266666666666667,
+            "annotations": {
+                "bbox_1768808597349": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808597349_1768808776192_h4wozd2pt",
+                            "x": 0.576666590779627,
+                            "y": 0.002444430881076389,
+                            "width": 0.24099998529052816,
+                            "height": 0.6133333333333334
+                        }
+                    ]
+                },
+                "point_1768808598053": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598053_1768808777760_19gkkmhtq",
+                            "x": 0.5676665913289434,
+                            "y": 0.5553333197699654
+                        }
+                    ]
+                },
+                "point_1768808598212": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808598212_1768808779575_6o1iy7sn9",
+                            "x": 0.6376665870564826,
+                            "y": 0.517999986436632
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808597349",
+            "name": "柜门",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808598053",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808598212",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007147.json

@@ -0,0 +1,377 @@
+{
+    "task_description": "把白色毛巾从椅子靠背移到椅子坐垫上。\n开始准备移动：0%\n爪夹靠近白色毛巾：25%\n爪夹合拢抓取白色毛巾：50%\n爪夹向正下方移动：75%\n松开爪夹：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹正前方的白色毛巾移动，同时调整爪夹与地面的角度，接近白色毛巾后合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动放置白色毛巾到坐垫上。",
+            "error_success_analysis": "",
+            "frame": 30,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，未移动，因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色毛巾，未开始移动。\n为完成抓取白色毛巾放置到坐垫上的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹角度与地面角度为45度，合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动。",
+            "time": 0.9871701484022536,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808817679_6atlczz3z",
+                            "x": 0.47966659670003675,
+                            "y": 0.41271603732638895,
+                            "width": 0.13999999145507863,
+                            "height": 0.5439999999999999
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808819919_rni3id17j",
+                            "x": 0.45866659798177495,
+                            "y": 0.5845678982204862
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808821791_e6e3riak2",
+                            "x": 0.5326665934651736,
+                            "y": 0.5952345648871529
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹前下方移动，同时调整爪夹与地面呈45度角度。",
+            "correction_plan": "合拢抓夹，抓紧白色毛巾，向下后方移动爪夹，松开爪夹放置白色毛巾到坐垫上。",
+            "error_success_analysis": "爪夹张开，爪夹角度与地面呈45度，接近白色毛巾方便抓取。",
+            "frame": 102,
+            "progress": 25,
+            "progress_explanation": "爪夹向前下方移动，靠近白色毛巾，因此进度提升到25%。",
+            "state_description": "爪夹张开，爪夹与地面呈45度角，接近白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动，放置白色毛巾到坐垫上。",
+            "time": 3.416035896602047,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808828414_aet18y34e",
+                            "x": 0.4486665985921265,
+                            "y": 0.42911109754774307,
+                            "width": 0.18799998852539135,
+                            "height": 0.5333333333333333
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808830382_qot5cvl3u",
+                            "x": 0.5276665937703495,
+                            "y": 0.5197777642144097
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808832471_0hqi46ry1",
+                            "x": 0.576666590779627,
+                            "y": 0.5339999864366319
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "张开爪夹，爪夹向爪夹正上方移动，抓夹角度与地面保持45度，合拢爪夹抓取白色毛巾，爪夹向爪夹正下移动白色毛巾到坐垫上，松开爪夹放置白色毛巾到坐垫上。",
+            "error_success_analysis": "爪夹合拢，未能抓紧白色毛巾。",
+            "frame": 138,
+            "progress": 15,
+            "progress_explanation": "爪夹未能抓紧白色毛巾，因此进度降低为15%。",
+            "state_description": "爪夹合拢，未能抓紧白色毛巾，爪夹角度与地面呈45度。\n为完成抓取白色毛巾放置到坐垫上的任务应当：张开爪夹，爪夹向爪夹正上方移动到白色毛巾附近。",
+            "time": 4.6091629308054545,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808837374_2tizc6g8y",
+                            "x": 0.4926665959065798,
+                            "y": 0.46288887532552087,
+                            "width": 0.15899999029541068,
+                            "height": 0.4817777777777777
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808840071_10gxq0zku",
+                            "x": 0.5556665920613651,
+                            "y": 0.5855555419921875
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808846213_1ar81kxhw",
+                            "x": 0.5746665909016972,
+                            "y": 0.5855555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢，爪夹向爪夹正下方移动。",
+            "correction_plan": "张开爪夹，爪夹向爪夹上方移动到白色毛巾附近，合拢抓夹，抓紧白色毛巾向爪夹下方运动，松开爪夹放置白色毛巾到桌垫上。",
+            "error_success_analysis": "爪夹未成功抓取白色毛巾，爪夹向下移动远离白色毛巾。",
+            "frame": 155,
+            "progress": 5,
+            "progress_explanation": "爪夹并未抓紧白色毛巾，爪夹向下移动远离白色毛巾，因此进度降低为5%。",
+            "state_description": "爪夹合拢，爪夹与地面垂直，爪夹远离白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：张开爪夹，爪夹向爪夹正上方移动到白色毛巾附近，合拢抓夹，抓紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。",
+            "time": 5.156333,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808858990_6iu20o0fd",
+                            "x": 0.46466659761556406,
+                            "y": 0.4664444308810764,
+                            "width": 0.2039999875488289,
+                            "height": 0.4764444444444444
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808861142_wlxfzy1al",
+                            "x": 0.5236665940144901,
+                            "y": 0.7117777642144097
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808862926_a9puizwxh",
+                            "x": 0.5346665933431034,
+                            "y": 0.709999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，爪夹向爪夹正上方移动，调整爪夹角度使其与地面呈45度。",
+            "correction_plan": "合拢抓夹，夹紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。",
+            "error_success_analysis": "爪夹向正上方移动，接近白色毛巾。",
+            "frame": 208,
+            "progress": 25,
+            "progress_explanation": "爪夹向正上方移动，接近白色毛巾，因此进度提升到25%。",
+            "state_description": "爪夹向爪夹正上方移动，同时爪夹角度与地面呈45度，接近了白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：合拢抓夹，抓紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白��毛巾到坐垫上。",
+            "time": 6.942152399471047,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808870101_uy396qw4s",
+                            "x": 0.4776665968221071,
+                            "y": 0.48066665310329865,
+                            "width": 0.2509999846801767,
+                            "height": 0.46044444444444443
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808871925_8dxd9s0wx",
+                            "x": 0.6016665892537482,
+                            "y": 0.5162222086588542
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808873885_nz5vkjf73",
+                            "x": 0.6476665864461311,
+                            "y": 0.5357777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹夹紧白色毛巾，向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。",
+            "error_success_analysis": "爪夹角度与地面呈45度，爪夹合拢成功夹紧白色毛巾。",
+            "frame": 120,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢，成功夹紧白色毛巾，因此进度提升到50%。",
+            "state_description": "爪夹合拢爪夹，抓取到了白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：夹紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。",
+            "time": 8,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808878765_gpm068sw4",
+                            "x": 0.48566659633382586,
+                            "y": 0.4966666531032986,
+                            "width": 0.25999998413086034,
+                            "height": 0.4426666666666667
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808881310_byksht649",
+                            "x": 0.6186665882161506,
+                            "y": 0.5677777642144097
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808885397_5yy8a5ssx",
+                            "x": 0.6296665875447639,
+                            "y": 0.565999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧白色毛巾，向下垂直移动，调整爪夹角度。",
+            "correction_plan": "松开爪夹，放置白色毛巾到坐垫上。",
+            "error_success_analysis": "爪夹夹紧白色毛巾，爪夹移动到坐垫正上方，方便放置白色毛巾到坐垫上。",
+            "frame": 279,
+            "progress": 75,
+            "progress_explanation": "爪夹向正下方移动，爪夹抓紧白色毛巾，爪夹处于做点正上方，因此进度提升到75%。",
+            "state_description": "爪夹调整爪夹角度垂直地面，爪夹夹紧白色毛巾向下垂直移动。",
+            "time": 9.28579478808488,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808894469_am7ve62fo",
+                            "x": 0.471666597188318,
+                            "y": 0.6228888753255208,
+                            "width": 0.15999999023437556,
+                            "height": 0.33599999999999997
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808896220_mddon8lm8",
+                            "x": 0.5226665940755252,
+                            "y": 0.7971110975477431
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808898509_xxcs49e38",
+                            "x": 0.5346665933431034,
+                            "y": 0.8006666531032987
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹松开。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开，使白色毛巾顺利落到坐垫上。",
+            "frame": 154,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，白色毛巾顺利落到坐垫上，因此进度提升到100%。",
+            "state_description": "爪夹张开，使白色毛巾落于坐垫上，完成了放置白色毛巾到坐垫上的任务目标。",
+            "time": 10.266666666666667,
+            "annotations": {
+                "bbox_1768808798688": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808798688_1768808903277_rhk8emhb7",
+                            "x": 0.46766659743245864,
+                            "y": 0.7597777642144098,
+                            "width": 0.14499999114990283,
+                            "height": 0.208
+                        }
+                    ]
+                },
+                "point_1768808804151": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804151_1768808904636_t0mg5ifnp",
+                            "x": 0.5266665938313846,
+                            "y": 0.6619999864366319
+                        }
+                    ]
+                },
+                "point_1768808804423": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808804423_1768808906965_jko1xrwuc",
+                            "x": 0.576666590779627,
+                            "y": 0.677999986436632
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808798688",
+            "name": "白色毛巾",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808804151",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808804423",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007328.json

@@ -0,0 +1,333 @@
+{
+    "task_description": "按电饭煲开关打开盖子。\n开始准备移动：0%\n合拢抓夹：25%\n爪夹靠近开关：50%\n爪夹按压开关：75%\n爪夹远离电饭煲打开盖子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向左前方电饭煲的正上方移动，合拢抓夹，并调整爪夹角度与桌面呈45度夹角，爪夹向下移动按压电饭煲的按钮，爪夹向上移动远离电饭煲。",
+            "error_success_analysis": "",
+            "frame": 17,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，未移动，进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离电饭煲，未开始移动。\n为完成按电饭煲开关打开盖子的任务应当：合拢抓夹，爪夹向爪夹左前方移动到电饭煲正上方。",
+            "time": 0.5727370764689288,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768808963571_7wt97snh2",
+                            "x": 0.3376666053670284,
+                            "y": 0.5517777642144097,
+                            "width": 0.11099999322509806,
+                            "height": 0.1564444444444444
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768808965948_dlejxwdr4",
+                            "x": 0.32666660603841513,
+                            "y": 0.6353333197699652
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768808968387_h7haqm7mc",
+                            "x": 0.3486666046956418,
+                            "y": 0.6317777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左前方略微移动。",
+            "correction_plan": "合拢抓夹，并调整爪夹角度与桌面呈45度夹角，爪夹向下移动按压电饭煲的按钮，爪夹向上移动远离电饭煲。",
+            "error_success_analysis": "爪夹想爪夹左前方移动，接近电饭煲，方便移动到电饭煲正上方。",
+            "frame": 23,
+            "progress": 10,
+            "progress_explanation": "爪夹向左前方移动，略微接近电饭煲，因此进度提升到10%。",
+            "state_description": "爪夹张开，爪夹略微缩短与电饭煲的距离。\n为完成按电饭煲开关打开盖子的任务应当：合拢爪夹，向左前方移动到电饭煲正上方。",
+            "time": 1.5333333333333334,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768808974011_ran24fg3z",
+                            "x": 0.3346666055501339,
+                            "y": 0.5375555419921875,
+                            "width": 0.12199999255371137,
+                            "height": 0.18488888888888882
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768808979995_k1j7q8ymv",
+                            "x": 0.3326666056722042,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768808982474_ucexqgwbz",
+                            "x": 0.3576666041463254,
+                            "y": 0.6531110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "爪夹向爪夹左前方移动到电饭煲正上方，按压电饭煲开关，爪夹向爪夹正上方移动远离电饭煲。",
+            "error_success_analysis": "爪夹合拢，方便按压电饭煲开关。",
+            "frame": 35,
+            "progress": 25,
+            "progress_explanation": "爪夹合拢，因此进度提升到25%。",
+            "state_description": "爪夹合拢，爪夹角度与地面呈45度。\n为完成按电饭煲开关打开盖子的任务应当：爪夹向爪夹左前方移动到电饭煲正上方，按压电饭煲开关。",
+            "time": 2.3333333333333335,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768808987450_0muq2u5qq",
+                            "x": 0.33566660548909877,
+                            "y": 0.5535555419921875,
+                            "width": 0.12099999261474652,
+                            "height": 0.15822222222222224
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768808990706_h5z31k3l7",
+                            "x": 0.3436666050008176,
+                            "y": 0.6228888753255208
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768808992626_5e31rnxei",
+                            "x": 0.34966660463460664,
+                            "y": 0.6175555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动，调整爪夹角度与桌面呈45度。",
+            "correction_plan": "爪夹向调整角度，靠近电饭煲开关，爪夹向爪夹下方按压开关，爪夹向爪夹正上方移动，远离电饭煲。",
+            "error_success_analysis": "",
+            "frame": 171,
+            "progress": 35,
+            "progress_explanation": "爪夹向爪夹左前方移动到电饭煲正上方，接近开关正上方，因此进度提升到35%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面呈45度，靠近电饭煲到电饭煲正上方。\n为完成按电饭煲开关打开盖子的任务应当：移动爪夹到按钮正上方，向爪夹正下方移动按压开关，爪夹向爪夹上方移动，远离电饭煲。",
+            "time": 5.6861386887397884,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768808998554_dzzbxm7ln",
+                            "x": 0.3436666050008176,
+                            "y": 0.5464444308810764,
+                            "width": 0.10499999359130893,
+                            "height": 0.16533333333333336
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768809000538_fdg6f9zow",
+                            "x": 0.3846666024983763,
+                            "y": 0.5535555419921875
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768809002715_ey4p2uky1",
+                            "x": 0.39266660201009507,
+                            "y": 0.549999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹靠近开关。",
+            "correction_plan": "继续合拢爪夹，按压按钮，爪夹向正上方移动远离电饭煲。",
+            "error_success_analysis": "爪夹调整位置，靠近按钮，方便按压按钮。",
+            "frame": 114,
+            "progress": 50,
+            "progress_explanation": "爪夹靠近电饭煲开关，因此进度提升到50%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面呈45度，靠近电饭煲开关，准备按压开关。\n为完成按电饭煲开关打开盖子的任务应当：按压开关，爪夹向正上方移动远离电饭煲。",
+            "time": 7.6,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768809008130_slmr02lnu",
+                            "x": 0.3486666046956418,
+                            "y": 0.5517777642144097,
+                            "width": 0.1009999938354496,
+                            "height": 0.14933333333333332
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768809009921_dyqufgnyt",
+                            "x": 0.3936666019490599,
+                            "y": 0.5713333197699653
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768809012025_882n3crpc",
+                            "x": 0.40366660133870835,
+                            "y": 0.5713333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹按压按钮。",
+            "correction_plan": "爪夹向爪夹正上方移动，远离电饭煲。",
+            "error_success_analysis": "爪夹移动到了电饭煲按钮正上方，成功按压到电饭煲开关。",
+            "frame": 293,
+            "progress": 75,
+            "progress_explanation": "爪夹按压按钮，因此进度提升到75%。",
+            "state_description": "爪夹合拢，爪夹角度与地面呈45度，在电饭煲正上方。\n为完成按电饭煲开关打开盖子的任务应当：爪夹向爪夹正上移动，远离带你反驳。",
+            "time": 9.7686125566012,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768809018794_maqcj5fr8",
+                            "x": 0.3446666049397824,
+                            "y": 0.5535555419921875,
+                            "width": 0.1039999936523441,
+                            "height": 0.15111111111111114
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768809020834_tdx3vqxlq",
+                            "x": 0.3956666018269896,
+                            "y": 0.5713333197699653
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768809023041_57ek0njcs",
+                            "x": 0.40566660121663806,
+                            "y": 0.5713333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正上方移动。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹远离电饭煲，电饭煲盖子成功打开。",
+            "frame": 400,
+            "progress": 100,
+            "progress_explanation": "爪夹远离电饭煲，任务完成。因此进度提升到100%。",
+            "state_description": "爪夹合拢，爪夹向爪夹正上方移动，远离电饭煲。\n爪夹按压按钮打开电饭煲盖子的任务目标完成。",
+            "time": 13.333333,
+            "annotations": {
+                "bbox_1768808937093": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768808937093_1768809032777_q5x9p6v02",
+                            "x": 0.34766660475667693,
+                            "y": 0.4486666531032986,
+                            "width": 0.1139999930419926,
+                            "height": 0.27377777777777773
+                        }
+                    ]
+                },
+                "point_1768808944987": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808944987_1768809035807_dddo72rw2",
+                            "x": 0.3576666041463254,
+                            "y": 0.469999986436632
+                        }
+                    ]
+                },
+                "point_1768808945236": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768808945236_1768809037809_gou46b4ks",
+                            "x": 0.37166660329183326,
+                            "y": 0.46288887532552087
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768808937093",
+            "name": "电饭煲",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768808944987",
+            "name": "爪夹��",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768808945236",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007880.json

@@ -0,0 +1,534 @@
+{
+    "task_description": "抓取黑色物体放在桌面上：\n准备开始移动：0%\n爪夹靠近黑色物体：20%\n爪夹抓取黑色物体：40%\n爪夹抓紧黑色物体接近桌面：60%\n爪夹将黑色物体放上桌面：80%\n爪夹松开黑色物体放在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。接着落下爪夹靠近黑色物体，接近黑色物体后爪夹合拢抓取黑色物体。抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达杯子的正上方后将黑色物体放在桌子上，松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "",
+            "frame": 33,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离黑色物体，未开始移动。进度 0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离黑色物体，未开始移动。\n为完成抓取黑色物体使其落在桌面的任务应当：爪夹向爪夹左后方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。",
+            "time": 1.1026,
+            "annotations": {
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596231064_gvhgjfkwc",
+                            "x": 0.5429999999999999,
+                            "y": 0.6921481391059028,
+                            "width": 0.025,
+                            "height": 0.048
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596241190_68l8cvoc7",
+                            "x": 0.22800000000000004,
+                            "y": 0.5552592502170139,
+                            "width": 0.506,
+                            "height": 0.42844444444444446
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596265345_azayuf57v",
+                            "x": 0.631,
+                            "y": 0.4041481391059028
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596268619_xp9cd7dx3",
+                            "x": 0.616,
+                            "y": 0.39348147243923615
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。接着落下爪夹靠近黑色物体，接近黑色物体后爪夹合拢抓取黑色物体。抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达杯子的正上方后将黑色物体放在桌子上，松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近黑色物体。\n",
+            "frame": 48,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈80度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近黑色物体。\n为完成抓取黑色物体使其放在桌上的任务应当：爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。",
+            "time": 1.5984,
+            "annotations": {
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596281357_wj8cvmsrb",
+                            "x": 0.6020000000000001,
+                            "y": 0.4894814724392361
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596285919_8fbi7l6x5",
+                            "x": 0.58,
+                            "y": 0.4894814724392361
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596293530_lldmrqonm",
+                            "x": 0.231,
+                            "y": 0.5552592502170139,
+                            "width": 0.5040000000000001,
+                            "height": 0.4337777777777777
+                        }
+                    ]
+                },
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596298282_2c9bawpjh",
+                            "x": 0.546,
+                            "y": 0.690370361328125,
+                            "width": 0.021999999999999974,
+                            "height": 0.04088888888888897
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动",
+            "correction_plan": "爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。接着落下爪夹靠近黑色物体，接近黑色物体后爪夹合拢抓取黑色物体。抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达杯子的正上方后将黑色物体放在桌子上，松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "爪夹角度与桌面呈80度，缩短了黑色物体之间的距离。方便后续抓取黑色物体。\n",
+            "frame": 79,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑色物体。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近黑色物体。\n为完成抓取黑色物体使其放在桌上的任务应当：爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。",
+            "time": 2.6492,
+            "annotations": {
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596302602_4q5jnfghb",
+                            "x": 0.5469999999999999,
+                            "y": 0.690370361328125,
+                            "width": 0.020000000000000018,
+                            "height": 0.04088888888888897
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596309802_gcjvra6p6",
+                            "x": 0.23199999999999998,
+                            "y": 0.5534814724392361,
+                            "width": 0.5040000000000001,
+                            "height": 0.43555555555555553
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596314319_di2aqh2v9",
+                            "x": 0.5740000000000001,
+                            "y": 0.6708148057725695
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596317921_fdcl53cca",
+                            "x": 0.591,
+                            "y": 0.6530370279947917
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度",
+            "correction_plan": "爪夹合拢抓取黑色物体，抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达杯子的正上方后将黑色物体放在桌上，松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近黑色物体，方便抓取",
+            "frame": 99,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色物体。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了黑色物体。准备抓取黑色物体。\n为完成抓取黑色物体使其放在桌子上的任务应当：爪夹合拢抓取黑色物体，抓紧黑色物体垂直升高爪夹并向爪夹右方的桌面接近。",
+            "time": 3.3032989690721655,
+            "annotations": {
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596324575_p1xhiycdt",
+                            "x": 0.571,
+                            "y": 0.674370361328125
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596327367_9mdxn7ud7",
+                            "x": 0.5549999999999999,
+                            "y": 0.7028148057725694
+                        }
+                    ]
+                },
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596331105_2ktdneikk",
+                            "x": 0.546,
+                            "y": 0.6957036946614583,
+                            "width": 0.021999999999999974,
+                            "height": 0.04444444444444452
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596339400_m2ybd4cox",
+                            "x": 0.231,
+                            "y": 0.5499259168836805,
+                            "width": 0.508,
+                            "height": 0.43733333333333335
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达桌子的正上方后将黑色物体放在桌上，松开爪夹，使黑色物体放在桌上。\n",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色物体。\n",
+            "frame": 135,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到黑色物体。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到黑色物体，爪夹角度与桌面接近垂直。\n为完成抓取黑色物体使其放在桌上的任务应当：抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近。",
+            "time": 4.514,
+            "annotations": {
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596370073_tgxzaagjm",
+                            "x": 0.5549999999999999,
+                            "y": 0.7259259168836806
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596374096_pzm6lvh63",
+                            "x": 0.5660000000000001,
+                            "y": 0.7099259168836806
+                        }
+                    ]
+                },
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596378540_b58s50ll0",
+                            "x": 0.546,
+                            "y": 0.7028148057725694,
+                            "width": 0.021999999999999974,
+                            "height": 0.03200000000000003
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596383753_l3g7dwc8m",
+                            "x": 0.23199999999999998,
+                            "y": 0.5570370279947917,
+                            "width": 0.5,
+                            "height": 0.43911111111111106
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧黑色物体，垂直升高，向爪夹右方移动。",
+            "correction_plan": "继续向爪夹右方的桌子接近，水平到达桌子的正上方后将黑色物体放在桌上，松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "爪夹合拢���续夹紧黑色物体，水平上接近了桌子。更加方便接近桌子。",
+            "frame": 162,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧黑色物体，垂直升高并向爪夹右边的桌子接近。缩短了与桌子的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧黑色物体，水平上接近了桌子。\n为完成抓取黑色物体使其落入桌子的任务应当：继续向爪夹右方的桌子接近，水平到达桌子的正上方后将黑色物体放正在桌上，松开爪夹，使黑色物体放在桌上。",
+            "time": 5.3872,
+            "annotations": {
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596391081_sh8zuolmu",
+                            "x": 0.522,
+                            "y": 0.6103703613281249
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596394811_5phrv7849",
+                            "x": 0.528,
+                            "y": 0.6050370279947916
+                        }
+                    ]
+                },
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596398564_jcdp7bhl1",
+                            "x": 0.514,
+                            "y": 0.5997036946614583,
+                            "width": 0.025,
+                            "height": 0.03911111111111107
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596404506_e1bllgfhz",
+                            "x": 0.23000000000000004,
+                            "y": 0.562370361328125,
+                            "width": 0.508,
+                            "height": 0.43377777777777776
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧黑色物体，向爪夹右方移动",
+            "correction_plan": "将黑色物体放上，松开爪夹子。使黑色物体放在桌上",
+            "error_success_analysis": "爪夹移动到了桌子正上方，方便将目标放在桌上",
+            "frame": 171,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧黑色物体，到了爪夹右方的桌子正上方，方便放在桌上。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧黑色物体，爪夹角度接近垂直于桌面，位于桌子正上方。\n为完成抓取黑色物体使其放在桌上的任务应当：将黑色物体放在桌上，松开爪夹，使黑色物体放在桌上。",
+            "time": 5.698,
+            "annotations": {
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596413213_7423gg7bd",
+                            "x": 0.532,
+                            "y": 0.5854814724392361,
+                            "width": 0.021999999999999974,
+                            "height": 0.02844444444444439
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596416015_0togul7yf",
+                            "x": 0.5389999999999999,
+                            "y": 0.6050370279947916
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596420293_9fm5bdof6",
+                            "x": 0.5469999999999999,
+                            "y": 0.6050370279947916
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596428499_d507mljtm",
+                            "x": 0.23199999999999998,
+                            "y": 0.5641481391059028,
+                            "width": 0.506,
+                            "height": 0.4337777777777779
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "correction_plan": "松开爪夹，使黑色物体放在桌上。",
+            "error_success_analysis": "黑色物体放在桌上，方便黑色物体放在桌上。",
+            "frame": 185,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，黑色物体放在桌上。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧黑色物体，爪夹角度接近垂直于桌面，红色方块放入杯子。\n为完成抓取黑色物体使其放在桌上的任务应当：松开爪夹，使黑色物体放在桌上。",
+            "time": 6.1642,
+            "annotations": {
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596438766_axqb6y4ij",
+                            "x": 0.56,
+                            "y": 0.6352592502170139,
+                            "width": 0.01799999999999997,
+                            "height": 0.03377777777777777
+                        }
+                    ]
+                },
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596441783_zos3sai02",
+                            "x": 0.563,
+                            "y": 0.6601481391059028
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596444747_2xvbhcmxs",
+                            "x": 0.5740000000000001,
+                            "y": 0.6565925835503472
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596452052_arqk3hc58",
+                            "x": 0.23500000000000001,
+                            "y": 0.5534814724392361,
+                            "width": 0.5040000000000001,
+                            "height": 0.43377777777777776
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，黑色物体放在桌上。",
+            "frame": 192,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，黑色物体放在桌上，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黑色物体放在桌上的任务目标完成。",
+            "time": 6.4084,
+            "annotations": {
+                "point_1767596206744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206744_1767596459185_drx95fdfs",
+                            "x": 0.558,
+                            "y": 0.6672592502170139
+                        }
+                    ]
+                },
+                "point_1767596206871": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767596206871_1767596462959_ehkoghx0q",
+                            "x": 0.579,
+                            "y": 0.6530370279947917
+                        }
+                    ]
+                },
+                "bbox_1767596205944": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596205944_1767596466652_bb8aizyoj",
+                            "x": 0.556,
+                            "y": 0.6530370279947917,
+                            "width": 0.02999999999999998,
+                            "height": 0.042666666666666624
+                        }
+                    ]
+                },
+                "bbox_1767596206079": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767596206079_1767596472329_pzvpwzfrm",
+                            "x": 0.231,
+                            "y": 0.5552592502170139,
+                            "width": 0.5119999999999999,
+                            "height": 0.43911111111111106
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767596205944",
+            "name": "黑色物体",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767596206079",
+            "name": "桌子",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767596206744",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767596206871",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.wrist_image_left/episode_007366.json

@@ -0,0 +1,1731 @@
+{
+    "task_description": "把锅按大小依次垒放。\n准备开始移动：0%\n爪夹靠近第一个锅：8%\n爪夹合拢：16%\n爪夹放置第一个锅：24%\n爪夹张开：32%\n爪夹靠近第二个锅：40%\n爪夹合拢：48%\n爪夹放置第二个锅：56%\n爪夹张开：64%\n爪夹靠近第三个锅：72%\n爪夹合拢：80%\n爪夹放置第三个锅：89%\n爪夹张开：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动.",
+            "correction_plan": "爪夹向爪夹正下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "",
+            "frame": 11,
+            "progress": 0,
+            "progress_explanation": "爪夹为初始状态，爪夹未移动，因此进度为0%。",
+            "state_description": "爪夹张开，未开始移动，远离第一个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹正下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。",
+            "time": 0.36700804613200416,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809206525_0i41pi2vh",
+                            "x": 0.41166660085042717,
+                            "y": 0.5091110975477431,
+                            "width": 0.11099999322509806,
+                            "height": 0.15999999999999998
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809212437_yxuocjpol",
+                            "x": 0.5386665930989627,
+                            "y": 0.4575555419921875,
+                            "width": 0.05899999639892606,
+                            "height": 0.2026666666666667
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809215837_il90rg5mi",
+                            "x": 0.45166659840902107,
+                            "y": 0.6175555419921875
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809217974_iw803fxxc",
+                            "x": 0.7616665794881238,
+                            "y": 0.6122222086588541
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "correction_plan": "爪夹向爪夹左下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于桌面，水平上未接近第一个锅。",
+            "frame": 69,
+            "progress": 4,
+            "progress_explanation": "爪夹向下移动，靠近第一个锅，因此进度提升到4%。",
+            "state_description": "爪夹张开，爪夹向下移动，接近第一个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹正下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正��方移动到底层的锅正上方，松开爪夹垒放第一个锅。",
+            "time": 2.2962,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809225212_3q06aplk3",
+                            "x": 0.38966660219320054,
+                            "y": 0.44333331976996526,
+                            "width": 0.14899999090576221,
+                            "height": 0.24177777777777784
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809228188_p02omlwzl",
+                            "x": 0.569666591206873,
+                            "y": 0.3508888753255208,
+                            "width": 0.06999999572753932,
+                            "height": 0.3164444444444445
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809230884_16wd9ghq2",
+                            "x": 0.44966659853109137,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809232869_k4lesx5sf",
+                            "x": 0.7626665794270886,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左下方移动。",
+            "correction_plan": "合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹靠近第一个锅，方便抓取第一个锅。",
+            "frame": 173,
+            "progress": 8,
+            "progress_explanation": "爪夹靠近第一个锅，因此进度提升到8%。\n为完成抓取三个锅按照大小依次垒放的任务应当：合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。",
+            "state_description": "爪夹张开，爪夹与桌面垂直，接近第一个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。",
+            "time": 5.7672,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809239556_0l94dan8x",
+                            "x": 0.576666590779627,
+                            "y": 0.27622220865885416,
+                            "width": 0.21599998681640703,
+                            "height": 0.6097777777777779
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809243611_ow9hc7deq",
+                            "x": -0.0003333740030899656,
+                            "y": 0.4397777642144098,
+                            "width": 0.29199998217773543,
+                            "height": 0.5013333333333333
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809245820_giedef0qj",
+                            "x": 0.4526665983479859,
+                            "y": 0.6317777642144097
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809247876_4e8ovktau",
+                            "x": 0.759666579610194,
+                            "y": 0.613999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "合拢爪夹。",
+            "correction_plan": "爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于地面，方便爪夹合拢抓取第一个锅。",
+            "frame": 214,
+            "progress": 16,
+            "progress_explanation": "爪夹成功抓取到第一个锅，因此进度提升到16%。",
+            "state_description": "爪夹合拢抓取到第一个锅，爪夹与桌面垂直。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。",
+            "time": 7.138347826245631,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809254500_ppvn5mail",
+                            "x": 0.5086665949300173,
+                            "y": 0.2744444308810764,
+                            "width": 0.19699998797607493,
+                            "height": 0.6524444444444444
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809258012_ueps9liog",
+                            "x": 0.006666625569663966,
+                            "y": 0.3295555419921875,
+                            "width": 0.26299998394775487,
+                            "height": 0.5671111111111112
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809259883_bx5ir1cod",
+                            "x": 0.5566665920003301,
+                            "y": 0.5642222086588542
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809261620_5xkqpxyzd",
+                            "x": 0.6626665855306039,
+                            "y": 0.5695555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓紧第一个锅，向正上方垂直移动并向爪夹正后方移动。",
+            "correction_plan": "松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹抓紧第一个锅移动到底层的锅正上方，方便垒放。",
+            "frame": 301,
+            "progress": 24,
+            "progress_explanation": "爪夹抓取第一个锅并移动到底层的锅正上方，方便垒放，因此进度提升到24%。",
+            "state_description": "爪夹抓紧第一个锅，垂直接近底层的锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 10.0392,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809267459_47j165vnn",
+                            "x": 0.48566659633382586,
+                            "y": 0.3064444308810764,
+                            "width": 0.26299998394775487,
+                            "height": 0.6382222222222222
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809270947_5n0ms4nwq",
+                            "x": 0.08466662080892207,
+                            "y": 0.002444430881076389,
+                            "width": 0.29299998211670025,
+                            "height": 0.33244444444444443
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809282004_np3dbb5vi",
+                            "x": 0.8586665735677139,
+                            "y": 0.34911109754774305,
+                            "width": 0.13999999145507863,
+                            "height": 0.4764444444444444
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809284667_jaej1bym4",
+                            "x": 0.5526665922444707,
+                            "y": 0.5873333197699653
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809286403_jvvmcrojm",
+                            "x": 0.654666586018885,
+                            "y": 0.5802222086588541
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开。",
+            "correction_plan": "爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹张开，第一个锅落入底层的锅。",
+            "frame": 340,
+            "progress": 32,
+            "progress_explanation": "爪夹张开i，第一个锅垒放到底层的锅里，因此进度提升到32%。",
+            "state_description": "爪夹张开，爪夹垂直于地面。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 11.3208,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809292931_7olhckc5f",
+                            "x": 0.6346665872395881,
+                            "y": 0.5979999864366319,
+                            "width": 0.10699999346923868,
+                            "height": 0.30222222222222217
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809296051_78fckuypz",
+                            "x": 0.24266661116536797,
+                            "y": 0.01844443088107639,
+                            "width": 0.2939999820556651,
+                            "height": 0.49777777777777776
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809305634_z09154dgu",
+                            "x": 0.91766656996664,
+                            "y": 0.5322222086588542,
+                            "width": 0.07999999511718787,
+                            "height": 0.2755555555555555
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809307779_zsrya693n",
+                            "x": 0.4526665983479859,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809309498_l05tm93am",
+                            "x": 0.7626665794270886,
+                            "y": 0.6122222086588541
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动。",
+            "correction_plan": "爪夹向爪夹左侧移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹向爪夹正前方移动，接近了第二个锅。",
+            "frame": 359,
+            "progress": 36,
+            "progress_explanation": "爪夹向正前方移动靠近了第二个锅，因此进度提升到36%。",
+            "state_description": "爪夹张开，爪夹与地面垂直，接近第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹左侧移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 11.961599,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809316307_o8xpjv7jh",
+                            "x": 0.1866666145833365,
+                            "y": 0.3117777642144097,
+                            "width": 0.3049999813842784,
+                            "height": 0.4728888888888889
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809319202_w95guzqqc",
+                            "x": 0.45166659840902107,
+                            "y": 0.6264444308810764
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809320811_job5pivkm",
+                            "x": 0.7626665794270886,
+                            "y": 0.6122222086588541
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809331346_u3q928dm0",
+                            "x": 0.9456665682576556,
+                            "y": 0.6495555419921875,
+                            "width": 0.05299999676513689,
+                            "height": 0.17066666666666674
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动。",
+            "correction_plan": "爪夹向爪夹左侧移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹向错误的方向移动，远离第二个锅，需要爪夹向左移动到第二个锅之上。",
+            "frame": 418,
+            "progress": 32,
+            "progress_explanation": "爪夹远离第二个锅，因此进度降低到32%。",
+            "state_description": "爪夹张开，爪夹远离第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹左下方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 13.9374,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809342434_xokfl0qou",
+                            "x": 0.002666625813804577,
+                            "y": 0.40422220865885417,
+                            "width": 0.3139999808349621,
+                            "height": 0.4604444444444445
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809349785_ki6vysu3a",
+                            "x": 0.44966659853109137,
+                            "y": 0.6424444308810764
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809351970_94lldf111",
+                            "x": 0.759666579610194,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809380968_w8i6s86mg",
+                            "x": 0.8176665760701551,
+                            "y": 0.5642222086588542,
+                            "width": 0.1779999891357429,
+                            "height": 0.31466666666666676
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左侧移动。",
+            "correction_plan": "合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹向左移动到第二个锅正上方，方便抓取。",
+            "frame": 460,
+            "progress": 40,
+            "progress_explanation": "爪夹移动到第二个锅的正上方，方便抓取，因此进度提升到40%。",
+            "state_description": "爪夹张开，爪夹位于第二个锅的正上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 15.3258,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809388616_abr66tj81",
+                            "x": 0.15866661629232076,
+                            "y": 0.1215555419921875,
+                            "width": 0.4209999743042007,
+                            "height": 0.632888888888889
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809390248_yophqr7ff",
+                            "x": 0.44966659853109137,
+                            "y": 0.6388888753255209
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809392144_gvzdgm7zz",
+                            "x": 0.7616665794881238,
+                            "y": 0.6086666531032986
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹合拢，抓取到第二个锅。",
+            "frame": 506,
+            "progress": 48,
+            "progress_explanation": "爪夹合拢，抓取到第二个锅，因此进度提升到48%。",
+            "state_description": "爪夹垂直于桌面合拢，抓取第二个锅的锅壁。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。",
+            "time": 16.8744,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809399011_agfn75tny",
+                            "x": 0.13666661763509413,
+                            "y": 0.21222220865885416,
+                            "width": 0.5419999669189473,
+                            "height": 0.6613333333333333
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809401544_gbji2xfkv",
+                            "x": 0.569666591206873,
+                            "y": 0.565999986436632
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809403688_c2k7alkbp",
+                            "x": 0.615666588399256,
+                            "y": 0.5517777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢，爪夹向上移动。",
+            "correction_plan": "爪夹松开，爪夹向下移动到第二个锅的正上方，爪夹合拢抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹合拢，未抓紧第二个锅。",
+            "frame": 525,
+            "progress": 24,
+            "progress_explanation": "爪夹未抓紧第二个锅，因此进度降低到24%。",
+            "state_description": "爪夹合拢，未成功抓紧第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹松开，爪夹向下移动抓取第二个锅，爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 17.515199,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809408800_215qdjj5b",
+                            "x": 0.18766661452230132,
+                            "y": 0.24244443088107637,
+                            "width": 0.41399997473144684,
+                            "height": 0.4
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809410951_xrxjhupry",
+                            "x": 0.5746665909016972,
+                            "y": 0.5642222086588542
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809412688_3hv9d5k5m",
+                            "x": 0.6116665886433966,
+                            "y": 0.5624444308810764
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开。",
+            "correction_plan": "爪夹向下移动，合拢抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹张开，位于第二个锅正上方，方便抓取。",
+            "frame": 557,
+            "progress": 32,
+            "progress_explanation": "爪夹张开，爪夹位于第二个锅的正上方。因此进度提升到32%。",
+            "state_description": "爪夹垂直于桌面，爪夹张开。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向下移动抓取第二个锅，合拢爪夹，爪夹抓���第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 18.583199,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809418160_l7g695bd7",
+                            "x": 0.163666615987145,
+                            "y": 0.3384444308810764,
+                            "width": 0.44499997283935705,
+                            "height": 0.3804444444444445
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809420368_qb6o6364h",
+                            "x": 0.4526665983479859,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809422056_kq9jl3cu3",
+                            "x": 0.7626665794270886,
+                            "y": 0.6086666531032986
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动并向右移动。",
+            "correction_plan": "爪夹向上并向左移动到第二个锅的正上方，向下移动爪夹并抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹伸入第二个锅里并向右移动带动第二个锅，使第二个锅靠近第一个锅，方便垒放。",
+            "frame": 628,
+            "progress": 34,
+            "progress_explanation": "爪夹带动第二个锅靠近第一个锅，因此进度提升到34%。",
+            "state_description": "爪夹张开，向下移动伸入国内，向右带动第二个锅移动。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向下移动抓取第二个锅，合拢爪夹。爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 20.9328,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809446383_ij40o4iz7",
+                            "x": 0.007666625508628813,
+                            "y": 0.46288887532552087,
+                            "width": 0.5149999685668963,
+                            "height": 0.46399999999999997
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809448759_ugigk64hw",
+                            "x": 0.4526665983479859,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809451126_dl5ogndef",
+                            "x": 0.759666579610194,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹后方移动。",
+            "correction_plan": "爪夹向爪夹左侧移动到第二个锅的正上方，合拢爪夹抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹向后移动，方便抓取第二个锅。",
+            "frame": 654,
+            "progress": 36,
+            "progress_explanation": "爪夹向后移动调整位置，方便抓取第二个锅，因此进度提升到36%。",
+            "state_description": "爪夹张开，爪夹向后移动，爪夹垂直于桌面。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向左侧移动到第二个锅的正上方，合拢爪夹。��夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 21.7872,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809471902_bdc0ille3",
+                            "x": 0.17766661513265286,
+                            "y": 0.002444430881076389,
+                            "width": 0.46899997137451344,
+                            "height": 0.6115555555555556
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809476094_6q5oe5xkn",
+                            "x": 0.6636665854695687,
+                            "y": 0.6584444308810764,
+                            "width": 0.24599998498535242,
+                            "height": 0.23999999999999994
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809478519_9wf58gpom",
+                            "x": 0.4526665983479859,
+                            "y": 0.6317777642144097
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809480070_hgy562jcp",
+                            "x": 0.7616665794881238,
+                            "y": 0.6193333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左侧移动到第二个锅的正上方。",
+            "correction_plan": "爪夹向下移动，合拢爪夹，爪夹抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹移动到第二个锅锅把的正上方，方便抓取。",
+            "frame": 682,
+            "progress": 38,
+            "progress_explanation": "爪夹靠近第二个锅的正上方，方便抓取，因此进度提升到38%。",
+            "state_description": "爪夹张开，爪夹移动到第二个锅的锅把的正上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹下方移动，合拢爪夹。爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 22.7484,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809502613_3048h42g4",
+                            "x": 0.4756665969441774,
+                            "y": 0.3473333197699653,
+                            "width": 0.2879999824218761,
+                            "height": 0.5102222222222222
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809504445_7ub9c6pvg",
+                            "x": 0.445666598775232,
+                            "y": 0.6335555419921876
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809506445_dibzc6nx6",
+                            "x": 0.7626665794270886,
+                            "y": 0.6175555419921875
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，爪夹向下移动。",
+            "correction_plan": "合拢爪夹，爪夹抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹靠近第二个锅的锅把，方便抓取。",
+            "frame": 703,
+            "progress": 40,
+            "progress_explanation": "爪夹靠近第二个锅，因此进度提升到40%。",
+            "state_description": "爪夹张开，爪夹向下移动靠近第二个锅的锅把。\n为完成抓取三个锅按照大小依次垒放的任务应当：合拢爪夹。爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 23.4426,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809511597_fbd2zmtrz",
+                            "x": 0.5476665925496464,
+                            "y": 0.3117777642144097,
+                            "width": 0.31599998071289176,
+                            "height": 0.5582222222222222
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809513589_8yhu8obar",
+                            "x": 0.4556665981648805,
+                            "y": 0.6371110975477431
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809515878_n0kfbu024",
+                            "x": 0.7576665797322644,
+                            "y": 0.6157777642144098
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于桌面合拢，抓到第二个锅。",
+            "frame": 741,
+            "progress": 48,
+            "progress_explanation": "爪夹合拢抓住第二个锅，因此进度提升到48%。",
+            "state_description": "爪夹合拢，抓取到第二个锅的锅把。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 24.69979002019886,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809527229_w2ztkzk70",
+                            "x": 0.5956665896199591,
+                            "y": 0.5908888753255208,
+                            "width": 0.08199999499511748,
+                            "height": 0.2880000000000001
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809528933_lsytzc8po",
+                            "x": 0.5986665894368536,
+                            "y": 0.5944444308810763
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809530813_ub7j6lk4l",
+                            "x": 0.6196665881551154,
+                            "y": 0.5873333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹正上方移动。",
+            "correction_plan": "张开爪夹，向下移动并合拢爪夹，爪夹抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "夹紧的第二个锅滑落到桌面上，爪夹远离第二个锅，未接近第二个锅。",
+            "frame": 797,
+            "progress": 24,
+            "progress_explanation": "爪夹向上移动，未抓紧第二个锅，第二个锅滑落桌面上，因此进度降低到24%。",
+            "state_description": "爪夹合拢，未抓紧第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹张开，爪夹向下移动，合拢爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 26.57154247974247,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809536164_hunumy5w6",
+                            "x": 0.5026665952962283,
+                            "y": 0.4415555419921875,
+                            "width": 0.11599999291992233,
+                            "height": 0.33066666666666666
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809538220_wnn2bglgw",
+                            "x": 0.5756665908406621,
+                            "y": 0.5713333197699653
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809540133_edm1sp344",
+                            "x": 0.6116665886433966,
+                            "y": 0.5606666531032987
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "松开爪夹。",
+            "correction_plan": "向下移动并合拢爪夹，爪夹抓取第二个锅，爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹张开，位于第二个锅的正上方，方便抓取第二个锅。",
+            "frame": 847,
+            "progress": 32,
+            "progress_explanation": "爪夹松开，因此进度提升到32%。",
+            "state_description": "爪夹松开，未移动，爪夹位于第二个锅的正上方的。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向下移动，合拢爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 28.2486,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809545124_08cawlmzi",
+                            "x": 0.445666598775232,
+                            "y": 0.42911109754774307,
+                            "width": 0.14899999090576221,
+                            "height": 0.4426666666666667
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809546829_8v8m3yze7",
+                            "x": 0.445666598775232,
+                            "y": 0.6264444308810764
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809548620_i4diqt4y1",
+                            "x": 0.759666579610194,
+                            "y": 0.613999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动并合拢爪夹。",
+            "correction_plan": "爪夹向爪夹后方移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于桌面，方便抓取到第二个锅。",
+            "frame": 905,
+            "progress": 48,
+            "progress_explanation": "爪夹合拢，抓取到了第二个锅，因此进度提升到48%。",
+            "state_description": "爪夹合拢，抓取到第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 30.170999,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809555467_2wp9dnp37",
+                            "x": 0.5816665904744512,
+                            "y": 0.3882222086588542,
+                            "width": 0.29199998217773543,
+                            "height": 0.48711111111111105
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809557260_o2q2qn470",
+                            "x": 0.5596665918172246,
+                            "y": 0.5677777642144097
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809558917_ka6lvugr2",
+                            "x": 0.6166665883382209,
+                            "y": 0.5606666531032987
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向上移动。",
+            "correction_plan": "爪夹松开，爪夹向下移动靠近第二个锅，爪夹合拢抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹未抓紧第二个锅，第二个锅未移动，需要抓紧第二个锅。",
+            "frame": 952,
+            "progress": 24,
+            "progress_explanation": "爪夹未抓紧第二个锅，因此进度降低到24%。",
+            "state_description": "爪夹合拢，未抓紧第二个锅，第二个锅远离爪夹。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹松开，爪夹向下移动靠近第二个锅，爪夹合拢抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 31.719599,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809563707_ibewmn88q",
+                            "x": 0.5536665921834355,
+                            "y": 0.33666665310329863,
+                            "width": 0.23799998547363366,
+                            "height": 0.42844444444444446
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809565684_xzsjfi1oa",
+                            "x": 0.5786665906575567,
+                            "y": 0.5553333197699654
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809567163_ihkgo1xrp",
+                            "x": 0.6176665882771857,
+                            "y": 0.5606666531032987
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "张开爪夹并向下移动。",
+            "correction_plan": "爪夹合拢抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹张开并靠近第二个锅，方便抓取。",
+            "frame": 1027,
+            "progress": 40,
+            "progress_explanation": "爪夹张开并靠近第二个锅，因此进度提升到40%。",
+            "state_description": "爪夹张开，爪夹向下移动靠近第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向下移动靠近第二个锅，爪夹合拢，抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 34.229399,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809573924_93xrsn03y",
+                            "x": 0.5796665905965215,
+                            "y": 0.35799998643663195,
+                            "width": 0.28599998254394643,
+                            "height": 0.5066666666666667
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809576187_8rhlr9vz6",
+                            "x": 0.44966659853109137,
+                            "y": 0.6228888753255208
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809577812_yk29l9rs8",
+                            "x": 0.7616665794881238,
+                            "y": 0.613999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "爪夹抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于桌面合拢，成功抓取到第二个锅。",
+            "frame": 1073,
+            "progress": 48,
+            "progress_explanation": "爪夹成功抓取到第二个锅，因此进度提升到48%。",
+            "state_description": "爪夹垂直于桌面合拢，抓取到了第二个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹合拢，抓紧第二个锅向右侧移动到第一个锅的正上方，松开爪夹放置第二个锅。",
+            "time": 35.778,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809587771_t1fic8u4f",
+                            "x": 0.5326665934651736,
+                            "y": 0.42733331976996525,
+                            "width": 0.3199999804687512,
+                            "height": 0.44444444444444453
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809590219_v9hqqsd59",
+                            "x": 0.576666590779627,
+                            "y": 0.5695555419921875
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809592138_yhph7vkyp",
+                            "x": 0.6296665875447639,
+                            "y": 0.5731110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢，爪夹紧抓第二个锅向后移动。",
+            "correction_plan": "松开爪夹放置第二个锅。爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹合拢夹紧第二个锅，并向正后方移动到第一个锅的正上方，方便垒放第二个锅。",
+            "frame": 1144,
+            "progress": 56,
+            "progress_explanation": "爪夹夹紧第二个锅并移动到第一个锅的正上方，因此进度提升到56%。",
+            "state_description": "爪夹夹紧向正后方移动到第一个锅的正上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：松开爪夹放置第二个锅。",
+            "time": 38.1276,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809598259_co5yh7yw0",
+                            "x": 0.569666591206873,
+                            "y": 0.37222220865885414,
+                            "width": 0.29399998205566513,
+                            "height": 0.4533333333333333
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809600666_11zk9crnh",
+                            "x": 0.583666590352381,
+                            "y": 0.5731110975477431
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809602618_6cgw8xmra",
+                            "x": 0.635666587178553,
+                            "y": 0.5837777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动并松开爪夹。",
+            "correction_plan": "爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于第一个锅正上方松开爪夹，方便第二个锅垒放到第一个锅里。",
+            "frame": 1222,
+            "progress": 64,
+            "progress_explanation": "第二个锅成功落入第一个锅里，因此进度提升到64%。",
+            "state_description": "爪夹松开，第一个锅垒放到第一个锅里。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "time": 40.719789012175,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809613060_zbyezex1p",
+                            "x": 0.6016665892537482,
+                            "y": 0.40599998643663193,
+                            "width": 0.26399998388671975,
+                            "height": 0.3875555555555556
+                        }
+                    ]
+                },
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809617076_fetekjph8",
+                            "x": 0.5776665907185918,
+                            "y": 0.3508888753255208,
+                            "width": 0.29399998205566513,
+                            "height": 0.3822222222222223
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809619826_ys5461j1g",
+                            "x": 0.5926665898030645,
+                            "y": 0.5606666531032987
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809621642_n8wikp0z1",
+                            "x": 0.641666586812342,
+                            "y": 0.581999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向上方移动，爪夹张开并向爪夹右侧移动。",
+            "correction_plan": "爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹张开向上移动，方便抓取第三个锅。",
+            "frame": 1274,
+            "progress": 68,
+            "progress_explanation": "爪夹张开并提升高度，方便抓取第三个锅，因此进度提升到：68%。",
+            "state_description": "爪夹张开并向上移动，接近第三个锅上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹后方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "time": 42.48143838586309,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809631882_uq4sdexti",
+                            "x": 0.1296666180623402,
+                            "y": 0.2691110975477431,
+                            "width": 0.2259999862060555,
+                            "height": 0.3822222222222223
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809635513_qzstgiy8y",
+                            "x": 0.1336666178181996,
+                            "y": 0.3277777642144097,
+                            "width": 0.2109999871215828,
+                            "height": 0.3768888888888889
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809639337_9gw9bswa3",
+                            "x": 0.3776666029256223,
+                            "y": 0.5055555419921874,
+                            "width": 0.2679999836425791,
+                            "height": 0.2222222222222222
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809641810_9w7q19cf4",
+                            "x": 0.4526665983479859,
+                            "y": 0.6299999864366319
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809643929_fnrwywnwk",
+                            "x": 0.759666579610194,
+                            "y": 0.6193333197699653
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "correction_plan": "合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左前方移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹向下移动，接近第三个锅。",
+            "frame": 1333,
+            "progress": 72,
+            "progress_explanation": "爪夹靠近第三个锅，因此进度提升到72%。",
+            "state_description": "爪夹张开，爪夹向下移动到第三个锅上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：合拢爪夹，抓紧第三个锅并提升高度，爪夹向左前方移动到第二个锅的正上方，松开爪夹防止第三个锅。",
+            "time": 44.4288,
+            "annotations": {
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809660985_7unme298a",
+                            "x": 0.005666625630699119,
+                            "y": 0.004222208658854167,
+                            "width": 0.06399999609375023,
+                            "height": 0.9031111111111111
+                        }
+                    ]
+                },
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809664595_g1xn0lc9b",
+                            "x": 0.06266662215169541,
+                            "y": 0.004222208658854167,
+                            "width": 0.09999999389648474,
+                            "height": 0.34844444444444445
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809668433_a9w53cfyy",
+                            "x": 0.13666661763509413,
+                            "y": 0.5233333197699653,
+                            "width": 0.5209999682006855,
+                            "height": 0.32355555555555554
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809670409_yre7yixdw",
+                            "x": 0.46366659767659923,
+                            "y": 0.5962222086588542
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809671921_qnhn479pj",
+                            "x": 0.7386665808919323,
+                            "y": 0.6051110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢。",
+            "correction_plan": "爪夹夹紧第三个锅，向上移动提升高度，并向爪夹左前方移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹垂直于地面，夹紧第三个锅。",
+            "frame": 1376,
+            "progress": 80,
+            "progress_explanation": "爪夹合拢并夹紧第三个锅，因此进度提升到80%。",
+            "state_description": "爪夹夹紧第三个锅，爪夹垂直于地面。\n为完成抓取三个锅按照大小依次垒放的任务应当：抓紧第三个锅并提升高度，爪夹向左前方移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "time": 45.8706,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809678088_bmcbx6vmy",
+                            "x": 0.07666662129720328,
+                            "y": 0.009555541992187501,
+                            "width": 0.12099999261474652,
+                            "height": 0.3075555555555555
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809681632_fn4kfsgr9",
+                            "x": 0.0016666258748397292,
+                            "y": 0.0006666531032986111,
+                            "width": 0.14199999133300834,
+                            "height": 0.944
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809686040_7yl0b7elg",
+                            "x": 0.11466661897786748,
+                            "y": 0.4664444308810764,
+                            "width": 0.5249999679565448,
+                            "height": 0.34844444444444445
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809688824_k2p3r95z0",
+                            "x": 0.6116665886433966,
+                            "y": 0.6015555419921875
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809690792_y48xthndp",
+                            "x": 0.6336665873006233,
+                            "y": 0.6051110975477431
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢向爪夹上方移动，爪夹向左移动。",
+            "correction_plan": "爪夹向爪夹左前方移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "error_success_analysis": "爪夹夹紧第三个锅，并提升高低，接近了第二个锅。",
+            "frame": 1419,
+            "progress": 83,
+            "progress_explanation": "爪夹夹紧向上移动提升高度，爪夹向左移动，靠近了第三个锅，因此进度提升到83%。",
+            "state_description": "爪夹夹紧垂直升高爪夹高度，爪夹向左移动，缩短与第二个锅的距离。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向左前方移动到第二个锅的正上方，松开爪夹垒放第三个锅。",
+            "time": 47.3124,
+            "annotations": {
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809704512_h42biuho3",
+                            "x": 0.1446666171468129,
+                            "y": 0.3988888753255208,
+                            "width": 0.4999999694824237,
+                            "height": 0.4302222222222223
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809707144_od88i0avb",
+                            "x": 0.602666589192713,
+                            "y": 0.5908888753255208
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809708768_x96jlk1a3",
+                            "x": 0.6196665881551154,
+                            "y": 0.581999986436632
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧向左前方移动。",
+            "correction_plan": "松开爪夹，垒放第三个锅。",
+            "error_success_analysis": "爪夹夹紧，移动到了第二个锅的正上方，方便垒放第三个锅。",
+            "frame": 1469,
+            "progress": 85,
+            "progress_explanation": "爪夹夹紧并移动到了第二个锅正上方，因此进度提升到85%。",
+            "state_description": "爪夹想左前方移动到第二个锅的正上方。\n为完成抓取三个锅按照大小依次垒放的任务应当：松开爪夹垒放第三个锅。",
+            "time": 48.9678,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809715400_2u0tzvm3c",
+                            "x": 0.5176665943807011,
+                            "y": 0.18199998643663196,
+                            "width": 0.17999998901367248,
+                            "height": 0.3022222222222223
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809719913_8p0qaz98f",
+                            "x": 0.5066665950520877,
+                            "y": 0.27622220865885416,
+                            "width": 0.1759999892578131,
+                            "height": 0.24177777777777779
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809722904_wplovwhuc",
+                            "x": 0.1656666158650747,
+                            "y": 0.40422220865885417,
+                            "width": 0.477999970825197,
+                            "height": 0.37688888888888883
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809725160_s69wm8b5j",
+                            "x": 0.6076665888875372,
+                            "y": 0.5802222086588541
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809726783_w7ep3ef6i",
+                            "x": 0.6236665879109748,
+                            "y": 0.5784444308810764
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "correction_plan": "松开爪夹，垒放第三个锅。",
+            "error_success_analysis": "爪夹向下移动把第三个锅放到第二个锅里，垒放时第三个锅掉落桌面。",
+            "frame": 1514,
+            "progress": 89,
+            "progress_explanation": "爪夹向下移动，把第三个锅放到第二个锅里，因此进度提升到89%。",
+            "state_description": "爪夹向下，第三个锅位于第二个锅里。\n为完成抓取三个锅按照大小依次垒放的任务应当：松开爪夹垒放第三个锅。",
+            "time": 50.4639121103873,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809737488_ffdx2pcyq",
+                            "x": 0.43566659938558355,
+                            "y": 0.03444443088107639,
+                            "width": 0.38799997631836075,
+                            "height": 0.6044444444444445
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809741303_4z262l017",
+                            "x": 0.4556665981648805,
+                            "y": 0.35266665310329864,
+                            "width": 0.23599998559570395,
+                            "height": 0.31822222222222224
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809745199_jlom2lmh9",
+                            "x": 0.16866661568196922,
+                            "y": 0.39533331976996533,
+                            "width": 0.46899997137451344,
+                            "height": 0.34488888888888886
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809747479_8h7ngc5aj",
+                            "x": 0.6056665890096076,
+                            "y": 0.589111097547743
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809749655_9trbaec7j",
+                            "x": 0.6246665878499397,
+                            "y": 0.5837777642144097
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "松开爪夹，爪夹向上方移动。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，第三个锅顺利落入第二个锅上。",
+            "frame": 1602,
+            "progress": 100,
+            "progress_explanation": "依次垒放完成，因此进度提升到100%。",
+            "state_description": "爪夹张开，第三个锅落于第二个锅里，完成了把锅按大小依次垒放的任务目标。",
+            "time": 53.4,
+            "annotations": {
+                "bbox_1768809121087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809121087_1768809756383_q0if2rdub",
+                            "x": 0.34266660506185265,
+                            "y": 0.06822220865885417,
+                            "width": 0.1339999918212896,
+                            "height": 0.5351111111111112
+                        }
+                    ]
+                },
+                "bbox_1768809185205": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809185205_1768809759751_2hzawucjg",
+                            "x": 0.31566660670980184,
+                            "y": 0.3544444308810764,
+                            "width": 0.3059999813232433,
+                            "height": 0.2666666666666667
+                        }
+                    ]
+                },
+                "bbox_1768809190390": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768809190390_1768809763055_rirewo30j",
+                            "x": 0.13266661787923473,
+                            "y": 0.43444443088107637,
+                            "width": 0.31699998065185664,
+                            "height": 0.1848888888888889
+                        }
+                    ]
+                },
+                "point_1768809144927": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809144927_1768809764903_dcugkqsgs",
+                            "x": 0.4486665985921265,
+                            "y": 0.6015555419921875
+                        }
+                    ]
+                },
+                "point_1768809145119": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768809145119_1768809767334_7vpw8zmnm",
+                            "x": 0.753666579976405,
+                            "y": 0.6175555419921875
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768809121087",
+            "name": "第一个锅",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768809185205",
+            "name": "第二个锅",
+            "color": "#FF9800"
+        },
+        {
+            "id": "bbox_1768809190390",
+            "name": "第三个锅",
+            "color": "#2196F3"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768809144927",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768809145119",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.wrist_image_left/episode_007629.json

@@ -0,0 +1,410 @@
+{
+    "task_description": "抓取红色方块放入杯子里：\n准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓紧红色方块接近杯子：60%\n爪夹将红色方块放入杯子：80%\n爪夹松开红色方块落入杯子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152252768_eua1xqxyn",
+                            "x": 0.45600000000000007,
+                            "y": 0.6530370279947917
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767152212429": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212429_1767152258159_de0pvq42d",
+                            "x": 0.772,
+                            "y": 0.6530370279947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离红色积木，未开始移动。进度 0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离红色积木，未开始移动。\n为完成抓取红色方块使其落入杯子的任务应当：爪夹向爪夹左后方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。",
+            "time": 0
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。",
+            "annotations": {
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152281729_s9k6aoz54",
+                            "x": 0.45600000000000007,
+                            "y": 0.6619259168836805
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767152212429": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212429_1767152278953_3d1vdd17b",
+                            "x": 0.772,
+                            "y": 0.6530370279947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近红色方块。\n",
+            "frame": 34,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈80度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近红色方块。\n为完成抓取红色方块使其落入杯子的任务应当：爪夹向爪夹左后方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。",
+            "time": 1.136666
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动\n",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.21155555555555564,
+                            "id": "bbox_1767152211376_1767152300742_6dk4ahm47",
+                            "width": 0.132,
+                            "x": 0.138,
+                            "y": 0.6690370279947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152296105_v08gwd7cs",
+                            "x": 0.458,
+                            "y": 0.6548148057725695
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767152212429": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212429_1767152289765_91vr2pqun",
+                            "x": 0.775,
+                            "y": 0.6477036946614583
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "爪夹角度与桌面呈80度，缩短了红色方块之间的距离。方便后续抓取红色方块。",
+            "frame": 92,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色方块。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近红色方块。\n为完成抓取红色方块使其落入杯子的任务应当：爪夹向爪夹左后方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。",
+            "time": 3.061666
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.46222222222222226,
+                            "id": "bbox_1767152211376_1767152306067_yow5cjej5",
+                            "width": 0.23900000000000005,
+                            "x": 0.492,
+                            "y": 0.19437036132812502
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152308609_qfubm6h0r",
+                            "x": 0.458,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767152212429": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212429_1767152311513_8nznargtc",
+                            "x": 0.778,
+                            "y": 0.6192592502170139
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取红色方块，抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯中，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了红色方块，方便抓取。",
+            "frame": 227,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色方块。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了红色方块。准备抓取红色方块。\n为完成抓取红色方块使其落入杯子的任务应当：爪夹合拢抓取红色方块，抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近。",
+            "time": 7.553333
+        },
+        {
+            "action_description": "爪夹合拢\n",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.5973333333333333,
+                            "id": "bbox_1767152211376_1767152320397_botk82ri9",
+                            "width": 0.3,
+                            "x": 0.488,
+                            "y": 0.354370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152316909_2on39zi5n",
+                            "x": 0.515,
+                            "y": 0.5641481391059028
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。\n",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色方块。\n",
+            "frame": 266,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到红色方块。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到红色方块，爪夹角度与桌面接近垂直。\n为完成抓取红色方块使其落入杯子的任务应当：抓紧红色方块垂直升高爪夹并向爪夹右方的杯子接近。",
+            "time": 8.873333
+        },
+        {
+            "action_description": "爪夹夹紧红色方块，垂直升高，向爪夹右方移动。",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.5422222222222223,
+                            "id": "bbox_1767152211376_1767152325924_vlld6eukm",
+                            "width": 0.28099999999999997,
+                            "x": 0.499,
+                            "y": 0.3970370279947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767152211541": {
+                    "instances": [
+                        {
+                            "height": 0.47822222222222227,
+                            "id": "bbox_1767152211541_1767152333893_ov8he6iba",
+                            "width": 0.2549999999999999,
+                            "x": 0.656,
+                            "y": 0.31348147243923613
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152336605_d4w08u9w5",
+                            "x": 0.522,
+                            "y": 0.5748148057725695
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "爪夹合拢继续夹紧红色方块，水平上接近了杯子。更加方便接近杯子。",
+            "frame": 320,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧红色方块，垂直升高并向爪夹右边的杯子接近。缩短了与杯子的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧红色方块，水平上接近了杯子。\n为完成抓取红色方块使其落入杯子的任务应当：继续向爪夹右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "time": 10.651666
+        },
+        {
+            "action_description": "爪夹夹紧红色方块，向爪夹右方移动",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.5653333333333332,
+                            "id": "bbox_1767152211376_1767152351510_f8vwu82s2",
+                            "width": 0.31700000000000006,
+                            "x": 0.495,
+                            "y": 0.36503702799479165
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767152211541": {
+                    "instances": [
+                        {
+                            "height": 0.5013333333333334,
+                            "id": "bbox_1767152211541_1767152348573_y69gz6e67",
+                            "width": 0.291,
+                            "x": 0.352,
+                            "y": 0.1694814724392361
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152341101_o909r1ofl",
+                            "x": 0.526,
+                            "y": 0.578370361328125
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将红色方块放入，松开爪夹，使红色方块落入杯子。",
+            "error_success_analysis": "爪夹移动到了杯子正上方，方便将目标放入杯子。",
+            "frame": 368,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧红色方块，到了爪夹右方的杯子���上方，方便放入杯子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，位于杯子正上方。\n为完成抓取红色方块使其落入杯子的任务应当：将红色方块放入杯子，松开爪夹，使红色方块落入杯子。",
+            "time": 12.283333
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.5475555555555555,
+                            "id": "bbox_1767152211376_1767152355834_kiewz0lct",
+                            "width": 0.30700000000000005,
+                            "x": 0.487,
+                            "y": 0.37570369466145837
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767152211541": {
+                    "instances": [
+                        {
+                            "height": 0.4088888888888889,
+                            "id": "bbox_1767152211541_1767152367196_3u3f8ke5x",
+                            "width": 0.32399999999999995,
+                            "x": 0.487,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152370139_hjon567hp",
+                            "x": 0.523,
+                            "y": 0.571259250217014
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使红色方块落入杯子。\n",
+            "error_success_analysis": "红色方块放入杯子，方便红色方块落入杯子。",
+            "frame": 432,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，红色方块放入杯子。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，红色方块放入杯子。\n为完成抓取红色方块使其落入杯子的任务应当：松开爪夹，使红色方块落入杯子。",
+            "time": 14.391666
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767152211376": {
+                    "instances": [
+                        {
+                            "height": 0.3217777777777778,
+                            "id": "bbox_1767152211376_1767152387070_53ea9haa4",
+                            "width": 0.20699999999999993,
+                            "x": 0.552,
+                            "y": 0.21392591688368057
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767152211541": {
+                    "instances": [
+                        {
+                            "height": 0.5671111111111111,
+                            "id": "bbox_1767152211541_1767152390709_ugfenwelf",
+                            "width": 0.313,
+                            "x": 0.527,
+                            "y": 0.050370361328124995
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767152212302": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212302_1767152375415_o9zfopkwg",
+                            "x": 0.44800000000000006,
+                            "y": 0.6174814724392361
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767152212429": {
+                    "instances": [
+                        {
+                            "id": "point_1767152212429_1767152377889_v0i6mxzsn",
+                            "x": 0.775,
+                            "y": 0.6477036946614583
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，红色积木落入杯子。",
+            "frame": 467,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，红色积木落入杯子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开红色方块落入杯子的任务目标完成。",
+            "time": 15.564999
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767152211376",
+            "name": "红色积��"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767152211541",
+            "name": "杯子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767152212302",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767152212429",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008049.json

@@ -0,0 +1,120 @@
+{
+    "task_description": "抓取标记物放在桌面上：\n准备开始移动：0%\n爪夹靠近标记物：20%\n爪夹抓取标记物：40%\n爪夹抓紧标记物接近桌面：60%\n爪夹将标记物放在桌面：80%\n爪夹松开标记物落在桌面：100%",
+    "progress_points": [
+        {
+            "time": 0.752266,
+            "frame": 23,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离标记物，未开始移动。\n为完成抓取标记物放在桌面上的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。",
+            "progress_explanation": "当前为初始状态，远离标记物，未开始移动。因此进度为0%",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。接着落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 2.292810089159622,
+            "frame": 69,
+            "progress": 5,
+            "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。",
+            "state_description": "爪夹张开，爪夹角度接近垂直桌面，还未接近标记物。\n为完成抓取标记物放在桌面上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。",
+            "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%",
+            "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近标记物。",
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。接着落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 3.7306747871096944,
+            "frame": 112,
+            "progress": 15,
+            "action_description": "爪夹垂直向下移动。",
+            "state_description": "爪夹张开，爪夹角度接近 垂直于桌面，水平上接近了标记物。\n为完成抓取标记物放在桌面上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了标记物，更加方便抓取。因此进度提升为15%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了爪夹与标记物之间的距离，方便后续抓取标记物。",
+            "correction_plan": "落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 5.179945736922258,
+            "frame": 155,
+            "progress": 20,
+            "action_description": "爪夹垂直向下移动，调整爪夹角度。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了标记物，准备抓取标记物。\n为完成抓取标记物放在桌面上的任务应当：爪夹合拢抓取标记物，抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了标记物，方便抓取。因此进度提升为20%",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了标记物，方便抓取。",
+            "correction_plan": "爪夹合拢抓取标记物，抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 6.612666,
+            "frame": 198,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢抓取到标记物 ，爪夹角度接近垂直于桌面。\n为完成抓取标记物放在桌面上的任务应当：抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近。",
+            "progress_explanation": "爪夹合拢抓取到标记物。因此进度提升为40%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到标记物��",
+            "correction_plan": "抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 7.352799,
+            "frame": 221,
+            "progress": 50,
+            "action_description": "爪夹夹紧标记物，垂直升高，向爪夹左前方移动。",
+            "state_description": "爪夹合拢夹紧标记物，水平上接近了桌面。\n为完成抓取标记物放在桌面上的任务应当：继续向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。",
+            "progress_explanation": "爪夹合拢夹紧标记物，垂直升高并向爪夹左前方的桌面接近，缩短了标记物与桌面的距离。因此进度提升为50%",
+            "error_success_analysis": "爪夹合拢继续夹紧标记物，水平上接近了桌面，更加方便接近桌面。",
+            "correction_plan": "继续向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 7.947333,
+            "frame": 238,
+            "progress": 60,
+            "action_description": "爪夹夹紧标记物，向爪夹左前方移动。",
+            "state_description": "爪夹夹紧标记物，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取标记物放在桌面上的任务应当：爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。",
+            "progress_explanation": "爪夹夹紧标记物，到达爪夹左前方的桌面正上方，方便将标记物放在桌面上。因此进度提升为60%",
+            "error_success_analysis": "爪夹移动到了桌面正上方，方便将标记物放在桌面上。",
+            "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 8.820933,
+            "frame": 265,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动。",
+            "state_description": "爪夹夹紧标记物，爪夹角度接近垂直于桌面，标价物落在桌面上。\n为完成抓取标记物放在桌面上的任务应当：松开爪夹，使标记物落在桌面上。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，标记物落在桌面上。因此进度提升为80%",
+            "error_success_analysis": "爪夹下降至合适的位置，方便标记物落在桌面上。",
+            "correction_plan": "松开爪夹，使标记物落在桌面上。"
+        },
+        {
+            "time": 10.835066,
+            "frame": 325,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开标记物落在桌面上的任务完成。",
+            "progress_explanation": "爪夹张开，标记物落在桌面上，任务完成。因此进度提升为100%",
+            "error_success_analysis": "爪夹张开，标记物落在桌面上。",
+            "correction_plan": "爪夹抓取标记物放在桌面上的任务完成。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768794680484",
+            "name": "标记物",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768794680644",
+            "name": "桌面",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768794691181",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768794691378",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008017.json

@@ -0,0 +1,430 @@
+{
+    "task_description": "抓取笔放在桌面上：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近桌面：60%\n爪夹将笔放上桌面：80%\n爪夹松开笔放在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.12088888888888892,
+                            "id": "bbox_1767493267235_1767493288773_0nbtoayec",
+                            "width": 0.05499999999999998,
+                            "x": 0.504,
+                            "y": 0.26192591688368055
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.46755555555555567,
+                            "id": "bbox_1767493267555_1767493291043_nxd4r9jbb",
+                            "width": 0.392,
+                            "x": 0.32,
+                            "y": 0.2637036946614583
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268339": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268339_1767493294771_60qsbogvp",
+                            "x": 0.5780000000000001,
+                            "y": 0.034370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767493268476": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268476_1767493298721_cr3u257dx",
+                            "x": 0.624,
+                            "y": 0.007703694661458333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 68,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其放在桌面的任务应当：爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 2.2532
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.14755555555555552,
+                            "id": "bbox_1767493267235_1767493329703_boa97tsjy",
+                            "width": 0.038000000000000075,
+                            "x": 0.514,
+                            "y": 0.258370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.44088888888888883,
+                            "id": "bbox_1767493267555_1767493332761_i6x99hq09",
+                            "width": 0.386,
+                            "x": 0.344,
+                            "y": 0.2974814724392361
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268339": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268339_1767493324843_e5o2xtnj3",
+                            "x": 0.546,
+                            "y": 0.09303702799479166
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767493268476": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268476_1767493322545_cbxkodkfl",
+                            "x": 0.595,
+                            "y": 0.08414813910590277
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使���垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近笔。",
+            "frame": 120,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹正前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 3.990399
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动\n",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.1564444444444445,
+                            "id": "bbox_1767493267235_1767493341583_9h8s6n1pk",
+                            "width": 0.04299999999999997,
+                            "x": 0.508,
+                            "y": 0.26192591688368055
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.5084444444444445,
+                            "id": "bbox_1767493267555_1767493337723_5e0mzphud",
+                            "width": 0.374,
+                            "x": 0.332,
+                            "y": 0.24770369466145833
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268339": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268339_1767493354501_emf8ougew",
+                            "x": 0.5429999999999999,
+                            "y": 0.20148147243923611
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。",
+            "frame": 197,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹正前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 6.5704
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.44800000000000006,
+                            "id": "bbox_1767493267555_1767493367507_m43k3bvpk",
+                            "width": 0.384,
+                            "x": 0.33599999999999997,
+                            "y": 0.2921481391059028
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268476": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268476_1767493362414_ygusk24q1",
+                            "x": 0.5469999999999999,
+                            "y": 0.2974814724392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方将笔放在桌面上，松开爪夹，使笔放在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。",
+            "frame": 309,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近��笔。准备抓取笔。\n为完成抓取笔使其放在桌面的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的桌面接近",
+            "time": 10.284536082474226
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.5102222222222221,
+                            "id": "bbox_1767493267555_1767493379825_toh0rhd3q",
+                            "width": 0.36700000000000005,
+                            "x": 0.343,
+                            "y": 0.24948147243923613
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔。\n",
+            "frame": 349,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其放在桌面的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的桌面接近",
+            "time": 11.627199
+        },
+        {
+            "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。\n",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.17244444444444443,
+                            "id": "bbox_1767493267235_1767493388575_9c4rmseg1",
+                            "width": 0.054000000000000006,
+                            "x": 0.516,
+                            "y": 0.06992591688368056
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.4515555555555555,
+                            "id": "bbox_1767493267555_1767493384395_xn4xa1sz2",
+                            "width": 0.37700000000000006,
+                            "x": 0.33799999999999997,
+                            "y": 0.3010370279947917
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "继续向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。\n",
+            "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了桌面。更加方便接近桌面。",
+            "frame": 413,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的桌面接近。缩短了与桌面的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧笔，水平上接近了桌面。\n为完成抓取笔使其放在桌面的任务应当：继续向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面上。",
+            "time": 13.76
+        },
+        {
+            "action_description": "爪夹夹紧笔，向爪夹左方移动",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.18133333333333335,
+                            "id": "bbox_1767493267235_1767493397149_nkpd6mr03",
+                            "width": 0.04699999999999997,
+                            "x": 0.532,
+                            "y": 0.12681480577256946
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.44444444444444436,
+                            "id": "bbox_1767493267555_1767493401601_fz04tcf7o",
+                            "width": 0.368,
+                            "x": 0.348,
+                            "y": 0.2939259168836806
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "将笔放在桌面，松开爪夹，使笔落在桌面上。\n",
+            "error_success_analysis": "爪夹移动到了桌面正上方，方便将目标放在桌面上。",
+            "frame": 434,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧笔，到了爪夹左方的桌面正上方，方便放在桌面。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取笔使其放在桌面的任务应当：将笔放在桌面上，松开爪夹，使笔落在桌面上。",
+            "time": 14.45154639175258
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.15822222222222224,
+                            "id": "bbox_1767493267235_1767493413113_jedrl6iy0",
+                            "width": 0.04399999999999995,
+                            "x": 0.532,
+                            "y": 0.33481480577256945
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.424888888888889,
+                            "id": "bbox_1767493267555_1767493408759_b5w2dhtno",
+                            "width": 0.34500000000000003,
+                            "x": 0.359,
+                            "y": 0.306370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268339": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268339_1767493415913_o3qvhud2r",
+                            "x": 0.546,
+                            "y": 0.3792592502170139
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767493268476": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268476_1767493419389_08xi2xy7g",
+                            "x": 0.5589999999999999,
+                            "y": 0.3774814724392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "笔放在桌面，方便笔落在桌面。",
+            "frame": 464,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，笔放在桌面。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，将笔放在桌面上。\n为完成抓取笔使其落在桌面的任务应当：松开爪夹，使笔落在桌面。",
+            "time": 15.48
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767493267235": {
+                    "instances": [
+                        {
+                            "height": 0.09955555555555556,
+                            "id": "bbox_1767493267235_1767493432689_2erop998f",
+                            "width": 0.05800000000000001,
+                            "x": 0.514,
+                            "y": 0.44681480577256943
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767493267555": {
+                    "instances": [
+                        {
+                            "height": 0.4408888888888889,
+                            "id": "bbox_1767493267555_1767493437053_tmsc3x8y2",
+                            "width": 0.369,
+                            "x": 0.343,
+                            "y": 0.2939259168836806
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767493268339": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268339_1767493427705_0lfml5sb8",
+                            "x": 0.54,
+                            "y": 0.3845925835503472
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767493268476": {
+                    "instances": [
+                        {
+                            "id": "point_1767493268476_1767493424011_au86zk8hg",
+                            "x": 0.5740000000000001,
+                            "y": 0.3561481391059028
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，笔落在桌面。",
+            "frame": 487,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，笔落在桌面，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落在桌面的任务目标完成。",
+            "time": 16.2196
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767493267235",
+            "name": "笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767493267555",
+            "name": "桌面"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767493268339",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767493268476",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008451.json

@@ -0,0 +1,410 @@
+{
+    "task_description": "抓取马克笔放入杯子里：\n准备开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓紧马克笔接近杯子：60%\n爪夹将马克笔放入杯子：80%\n爪夹松开马克笔落入杯子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "correction_plan": "爪夹向爪夹方向的正前方移动，调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "",
+            "frame": 29,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离马克笔，未开始移动。\n为完成抓取马克笔落入杯里的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。",
+            "time": 0.954,
+            "annotations": {
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583121532_g0jboeumi",
+                            "x": 0.536,
+                            "y": 0.5937777777777777,
+                            "width": 0.07000000000000002,
+                            "height": 0.060444444444444495
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583128900_1e5lxs0rc",
+                            "x": 0.519,
+                            "y": 0.6346666666666667,
+                            "width": 0.10099999999999998,
+                            "height": 0.19022222222222213
+                        }
+                    ]
+                },
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583141788_pqyzcc2lz",
+                            "x": 0.32,
+                            "y": 0.3431111111111111
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583147132_el7jhegd5",
+                            "x": 0.332,
+                            "y": 0.3413333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动下降，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹方向的正前方微调，调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，水平上未接近马克笔。",
+            "frame": 49,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开接近垂直于桌面，爪夹远离马克笔。\n为完成抓取马克笔落入杯里的任务应当：爪夹向爪夹方向的正前方微调，调整爪夹的角度使其垂直于桌面，并移动到马克笔的正上方。",
+            "time": 1.618266,
+            "annotations": {
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583165996_27f8vbddh",
+                            "x": 0.43600000000000005,
+                            "y": 0.448
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583170724_dcru7b0d9",
+                            "x": 0.47000000000000003,
+                            "y": 0.46399999999999997
+                        }
+                    ]
+                },
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583175076_x2decgzgi",
+                            "x": 0.5429999999999999,
+                            "y": 0.5902222222222223,
+                            "width": 0.05900000000000007,
+                            "height": 0.06044444444444442
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583179396_pbvcwqdca",
+                            "x": 0.511,
+                            "y": 0.632888888888889,
+                            "width": 0.10699999999999994,
+                            "height": 0.18844444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并调整角度垂直于桌面。",
+            "correction_plan": "爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。接着落下爪夹靠近马克笔，接近马克笔后爪夹合拢抓取马克笔。抓紧马克笔垂直升高爪夹并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了马克笔的距离，方便后续抓取马克笔。",
+            "frame": 76,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了马克笔，更加方便抓取。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了马克笔。\n为完成抓取马克笔落入杯里的任务应当：爪夹继续向爪夹方向的正前方微调下降，直至马克笔的正上方。",
+            "time": 2.529866,
+            "annotations": {
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583190156_s0f8k5e52",
+                            "x": 0.506,
+                            "y": 0.544
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583192252_2ypigiudr",
+                            "x": 0.544,
+                            "y": 0.5653333333333334
+                        }
+                    ]
+                },
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583196340_ihkd518h8",
+                            "x": 0.535,
+                            "y": 0.5937777777777777,
+                            "width": 0.06899999999999995,
+                            "height": 0.06222222222222224
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583200084_1gfxz9688",
+                            "x": 0.519,
+                            "y": 0.632888888888889,
+                            "width": 0.09299999999999997,
+                            "height": 0.19911111111111104
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的正前方移动并垂直下降",
+            "correction_plan": "爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹垂直向下移动，处于马克笔的正上方，方便抓取。",
+            "frame": 118,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于马克笔的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于马克笔的正上方，准备抓取马克笔。\n为完成抓取马克笔落入杯里的任务应当：爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至杯子的正上方",
+            "time": 3.936133,
+            "annotations": {
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583208516_x7031q3r4",
+                            "x": 0.5389999999999999,
+                            "y": 0.5973333333333333,
+                            "width": 0.06800000000000006,
+                            "height": 0.07288888888888892
+                        }
+                    ]
+                },
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583211700_5wado4ixq",
+                            "x": 0.5549999999999999,
+                            "y": 0.6186666666666667
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583214268_3uoqwardm",
+                            "x": 0.5860000000000001,
+                            "y": 0.6506666666666667
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583220260_0vku78d42",
+                            "x": 0.52,
+                            "y": 0.6222222222222222,
+                            "width": 0.10400000000000001,
+                            "height": 0.1848888888888889
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到马克笔。",
+            "frame": 136,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到马克笔，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到马克笔，爪夹角度与桌面接近垂直。\n为完成抓取马克笔落入杯里的任务应当：抓紧马克笔垂直升高爪夹并向爪夹方向右侧的杯子接近。",
+            "time": 4.545979595876288,
+            "annotations": {
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583233620_1o61ytmi0",
+                            "x": 0.558,
+                            "y": 0.632888888888889
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583237052_23lyiurfz",
+                            "x": 0.572,
+                            "y": 0.6364444444444445
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583241525_e2vy09sj6",
+                            "x": 0.52,
+                            "y": 0.6275555555555556,
+                            "width": 0.088,
+                            "height": 0.192
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹着马克笔向爪夹左侧移动",
+            "correction_plan": "爪夹夹紧马克笔继续抬升并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹合拢夹紧马克笔，稍微离开桌面并没有垂直升高",
+            "frame": 176,
+            "progress": 45,
+            "progress_explanation": "爪夹合拢夹紧马克笔，稍微离开桌面并没有垂直升高，因此进度提升为45%。",
+            "state_description": "爪夹合拢夹紧马克笔，稍微离开桌面。\n为完成抓取马克笔落入杯里的任务应当：爪夹夹紧马克笔继续抬升并向爪夹方向的右侧移动，直至杯子的正上方。",
+            "time": 5.850034640206185,
+            "annotations": {
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583246220_65g7r1y2k",
+                            "x": 0.47800000000000004,
+                            "y": 0.5866666666666667
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583248796_03dst2e8r",
+                            "x": 0.49400000000000005,
+                            "y": 0.5991111111111111
+                        }
+                    ]
+                },
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583255436_ch0p8gdij",
+                            "x": 0.4600000000000001,
+                            "y": 0.5351111111111112,
+                            "width": 0.05799999999999992,
+                            "height": 0.09244444444444445
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583266932_mg42liwsg",
+                            "x": 0.527,
+                            "y": 0.6275555555555556,
+                            "width": 0.09099999999999993,
+                            "height": 0.19911111111111113
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹打开，马克笔掉落桌面",
+            "correction_plan": "爪夹垂直下降，直至马克笔的正上方，合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。",
+            "error_success_analysis": "爪夹没有移动至杯子的正上方，爪夹提前张开导致马克笔掉落桌面。",
+            "frame": 212,
+            "progress": 10,
+            "progress_explanation": "爪夹打开，马克笔掉落桌面，爪夹处于马克笔的上方，因此进度降低为10%。",
+            "state_description": "爪夹打开角度垂直于桌面，处于马克笔的上方。\n为完成抓取马克笔落入杯里的任务应当：爪夹垂直下降，直至马克笔的正上方，合拢抓取马克笔",
+            "time": 7.066667,
+            "annotations": {
+                "point_1767581285566": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581285566_1767583275796_cejefy2ii",
+                            "x": 0.48,
+                            "y": 0.5493333333333333
+                        }
+                    ]
+                },
+                "point_1767581293294": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767581293294_1767583278476_ab60nnndo",
+                            "x": 0.516,
+                            "y": 0.5760000000000001
+                        }
+                    ]
+                },
+                "bbox_1767581273118": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581273118_1767583283692_ocljhukq3",
+                            "x": 0.46699999999999997,
+                            "y": 0.5653333333333332,
+                            "width": 0.051999999999999956,
+                            "height": 0.09777777777777782
+                        }
+                    ]
+                },
+                "bbox_1767581280214": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767581280214_1767583292500_ezgugtnfn",
+                            "x": 0.522,
+                            "y": 0.6346666666666667,
+                            "width": 0.096,
+                            "height": 0.17955555555555552
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767581273118",
+            "name": "马克笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767581280214",
+            "name": "杯子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767581285566",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767581293294",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008775.json

@@ -0,0 +1,229 @@
+{
+    "task_description": "爪夹将已经打开的柜门关上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近柜门：30%\n爪夹抵住柜门：50%\n爪夹推动柜门：70%\n爪夹将柜门关上：100%",
+    "progress_points": [
+        {
+            "time": 0.150333,
+            "frame": 5,
+            "progress": 0,
+            "action_description": "爪夹张开，准备移动。",
+            "state_description": "当前爪夹张开，没有移动，没有接触已经打开的柜门。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹保持张开，向爪夹的右前方调整爪夹方向并移动，靠近已经打开的柜门。",
+            "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹保持张开，向爪夹的右前方调整爪夹方向并移动，靠近已经打开的柜门，爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近已经打开的柜门，爪夹移动到柜门的前方并抵住柜门，爪夹向爪夹的左前方移动，推动柜门，爪夹继续向爪夹的左前方移动，将柜门关上。",
+            "annotations": {
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788898686_j25sf9xhu",
+                            "x": 0.7095,
+                            "y": 4.934324553889585e-18,
+                            "width": 0.289,
+                            "height": 0.3644444444444444
+                        }
+                    ]
+                },
+                "point_1768786887084": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786887084_1768788906214_seh18vtzy",
+                            "x": 0.1945,
+                            "y": 0.32355555555555554
+                        }
+                    ]
+                },
+                "point_1768786886909": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786886909_1768788908838_oryu0guxj",
+                            "x": 0.1715,
+                            "y": 0.29333333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 1.817666,
+            "frame": 55,
+            "progress": 10,
+            "action_description": "爪夹向爪夹的右前方移动，并略微调整爪夹方向。",
+            "state_description": "当前爪夹张开，在水平方向上略微接近已经打开的柜门。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹向爪夹的右前方调整爪夹方向并移动，靠近柜门，爪夹向爪夹的上方抬起，并向爪夹的前方移动。",
+            "progress_explanation": "当前爪夹开始调整爪夹角度方便将柜门关上，因此进度提升为10%。",
+            "error_success_analysis": "爪夹向爪夹的右前方移动，并略微调整爪夹方向，平方向上略微接近已经打开的柜门。",
+            "correction_plan": "爪夹继续向爪夹的右前方调整爪夹方向并移动，靠近柜门，爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近已经打开的柜门，爪夹移动到柜门的前方并抵住柜门，爪夹向爪夹的左前方移动，推动柜门，爪夹继续向爪夹的左前方移动，将柜门关上。",
+            "annotations": {
+                "point_1768786887084": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786887084_1768788883118_qv47y8el9",
+                            "x": 0.2965,
+                            "y": 0.29511111111111116
+                        }
+                    ]
+                },
+                "point_1768786886909": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786886909_1768788885278_nvp9so8wa",
+                            "x": 0.27149999999999996,
+                            "y": 0.29155555555555557
+                        }
+                    ]
+                },
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788888302_3lp8ssoq3",
+                            "x": 0.7074999999999998,
+                            "y": 1.973729821555834e-17,
+                            "width": 0.28900000000000015,
+                            "height": 0.3626666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 3.567,
+            "frame": 107,
+            "progress": 30,
+            "action_description": "爪夹向爪夹的右前方调整爪夹方向并向爪夹的上方抬起，靠近柜门。",
+            "state_description": "当前爪夹张开，在水平方向上与已经打开的柜门的水平距离再次缩短。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹继续向爪夹的右上方移动，爪夹移动到已打开的柜门的一侧。",
+            "progress_explanation": "当前爪夹在水平方向上进一步接近已打开的柜门，因此进度提升至30%。",
+            "error_success_analysis": "爪夹向爪夹的右前方调整爪夹方向并向爪夹的上方抬起，并靠近柜门，水平方向上成功接近柜门。",
+            "correction_plan": "爪夹继续向爪夹的右上方移动，爪夹移动到已打开的柜门的一侧，爪夹抵住柜门，爪夹向爪夹的左前方移动，推动柜门，爪夹继续向爪夹的左前方移动，将柜门关上。",
+            "annotations": {
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788873878_yj1zt71lx",
+                            "x": 0.7055,
+                            "y": 0.005333333333333333,
+                            "width": 0.28900000000000003,
+                            "height": 0.3893333333333334
+                        }
+                    ]
+                },
+                "point_1768786886909": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786886909_1768788876598_dyj1h77li",
+                            "x": 0.2915,
+                            "y": 0.1511111111111111
+                        }
+                    ]
+                },
+                "point_1768786887084": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768786887084_1768788879286_oa34bmhve",
+                            "x": 0.34550000000000003,
+                            "y": 0.1937777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 6.204666,
+            "frame": 186,
+            "progress": 50,
+            "action_description": "爪夹向爪夹的右上方移动，爪夹移动到已打开的柜门的一侧，并抵住柜门。",
+            "state_description": "当前爪夹张开，在水平方向上已经抵住柜门。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹抵住柜门，爪夹向爪夹的左前方移动，推动柜门，爪夹继续向爪夹的左前方移动，将柜门关上。",
+            "progress_explanation": "当前爪夹成功接近并抵住柜门，因此进度提升至50%。",
+            "error_success_analysis": "爪夹向爪夹的右上方移动，爪夹移动到已打开的柜门的一侧，成功抵住柜门。",
+            "correction_plan": "爪夹抵住柜门，爪夹向爪夹的左前方移动，推动柜门，爪夹继续向爪夹的左前方移动，将柜门关上。",
+            "annotations": {
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788863566_0fcwd2com",
+                            "x": 0.7135,
+                            "y": 0.0053333333333333306,
+                            "width": 0.285,
+                            "height": 0.37688888888888883
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 7.530756197422681,
+            "frame": 226,
+            "progress": 70,
+            "action_description": "爪夹抵住柜门，爪夹向爪夹的左前方移动，推动柜门。",
+            "state_description": "当前爪夹张开，在水平方向上接近柜子未打开的一侧柜门。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹继续向爪夹的左前方推动已经打开的柜门，使柜门关上。",
+            "progress_explanation": "当前爪夹推动柜门，在接近柜子未打开的一侧柜门，因此进度提升至70%。",
+            "error_success_analysis": "爪夹抵住柜门，爪夹向爪夹的左前方移动，推动已经打开的柜门。",
+            "correction_plan": "爪夹继续向爪夹的左前方推动已经打开的柜门，使柜门关上。",
+            "annotations": {
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788840079_ye33qf3v6",
+                            "x": 0.5955000000000001,
+                            "y": -0.0017777777777778188,
+                            "width": 0.40199999999999997,
+                            "height": 0.312888888888889
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 9.785051785051547,
+            "frame": 294,
+            "progress": 100,
+            "action_description": "爪夹向爪夹的左前方推动已经打开的柜门，使柜门关上。",
+            "state_description": "当前爪夹张开，柜门已经关上。已经完成爪夹将柜门的关上的任务。",
+            "progress_explanation": "当前柜门已经被关上，因此进度提升至100%。",
+            "error_success_analysis": "爪夹向爪夹的左前方推动，成功将柜门关上。",
+            "correction_plan": "",
+            "annotations": {
+                "bbox_1768786888052": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768786888052_1768788830031_ejnnt1tu9",
+                            "x": 0.6095,
+                            "y": 0.0035555555555555588,
+                            "width": 0.3869999999999999,
+                            "height": 0.28088888888888885
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768786888052",
+            "name": "柜门",
+            "color": "#4CAF50"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768786886909",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768786887084",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008868.json

@@ -0,0 +1,514 @@
+{
+    "task_description": "抓取笔放在桌面上：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近桌面：60%\n爪夹将笔放上桌面：80%\n爪夹松开笔放在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.13866666666666666,
+                            "id": "bbox_1767494720531_1767494739626_nfxq32pln",
+                            "width": 0.05700000000000003,
+                            "x": 0.43,
+                            "y": 0.3472592502170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.6880000000000001,
+                            "id": "bbox_1767494720674_1767494774002_adegu3dq6",
+                            "width": 0.5720000000000001,
+                            "x": 0.064,
+                            "y": 0.2725925835503472
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494779488_lonq3b4bi",
+                            "x": 0.40700000000000003,
+                            "y": 0.023703694661458337
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494782926_yoa49z4w6",
+                            "x": 0.48600000000000004,
+                            "y": 0.034370361328125
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 153,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其放在桌面的任务应当：爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 5.092
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.16533333333333333,
+                            "id": "bbox_1767494720531_1767494807744_phv0wjep6",
+                            "width": 0.054000000000000006,
+                            "x": 0.43600000000000005,
+                            "y": 0.3472592502170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7111111111111111,
+                            "id": "bbox_1767494720674_1767494804020_88o2m7hta",
+                            "width": 0.576,
+                            "x": 0.082,
+                            "y": 0.24948147243923613
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494797784_qpstpn7o6",
+                            "x": 0.492,
+                            "y": 0.17125925021701388
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494793990_bhsdakbm7",
+                            "x": 0.5509999999999999,
+                            "y": 0.15881480577256943
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪���前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近笔。",
+            "frame": 178,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈80度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 5.9432
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.16533333333333333,
+                            "id": "bbox_1767494720531_1767494813243_6wis0q3fd",
+                            "width": 0.04699999999999997,
+                            "x": 0.43500000000000005,
+                            "y": 0.3472592502170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7022222222222223,
+                            "id": "bbox_1767494720674_1767494818455_u7p2s4rlz",
+                            "width": 0.5509999999999999,
+                            "x": 0.091,
+                            "y": 0.2637036946614583
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494822052_ebokhm6cf",
+                            "x": 0.45499999999999996,
+                            "y": 0.31348147243923613
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494825456_8zxg089q2",
+                            "x": 0.518,
+                            "y": 0.2850370279947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹角度与桌面呈80度，缩短了笔之间的距离。方便后续抓取笔。",
+            "frame": 233,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 7.7824
+        },
+        {
+            "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.1848888888888889,
+                            "id": "bbox_1767494720531_1767494845471_7qeu1wxi5",
+                            "width": 0.051999999999999956,
+                            "x": 0.43100000000000005,
+                            "y": 0.3490370279947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7200000000000001,
+                            "id": "bbox_1767494720674_1767494850138_loc4mxm9q",
+                            "width": 0.587,
+                            "x": 0.072,
+                            "y": 0.242370361328125
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494840004_cbzavhut2",
+                            "x": 0.44299999999999995,
+                            "y": 0.39881480577256945
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494831546_2nqklll6a",
+                            "x": 0.504,
+                            "y": 0.36325925021701394
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方将笔放在桌面上，松开爪夹，使笔放在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。",
+            "frame": 250,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其放在桌面的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右方的桌面接近",
+            "time": 8.329599
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.19022222222222224,
+                            "id": "bbox_1767494720531_1767494862524_tqwttxll2",
+                            "width": 0.05600000000000005,
+                            "x": 0.43899999999999995,
+                            "y": 0.3365925835503472
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.696888888888889,
+                            "id": "bbox_1767494720674_1767494859040_gs0lvop89",
+                            "width": 0.557,
+                            "x": 0.075,
+                            "y": 0.2654814724392361
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494865814_pbmjk9q80",
+                            "x": 0.454,
+                            "y": 0.3774814724392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔。\n",
+            "frame": 278,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其放在桌面的任务应当：抓紧笔垂直升高爪夹并向爪夹右方的桌面接近",
+            "time": 9.272
+        },
+        {
+            "action_description": "爪夹夹紧笔，垂直升高，向爪夹右方移动。",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.14755555555555558,
+                            "id": "bbox_1767494720531_1767494876757_6pcnggyou",
+                            "width": 0.04900000000000002,
+                            "x": 0.442,
+                            "y": 0.15170369466145833
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7093333333333334,
+                            "id": "bbox_1767494720674_1767494882233_0ni34u1v6",
+                            "width": 0.554,
+                            "x": 0.068,
+                            "y": 0.2637036946614583
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494871970_swxtwjl79",
+                            "x": 0.45600000000000007,
+                            "y": 0.1872592502170139
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹右方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了桌面。更加方便接近桌面。",
+            "frame": 320,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹右边的桌面接近。缩短了与桌面的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧笔，水平上接近了桌面。\n为完成抓取笔使其放在桌面的任务应当：继续向爪夹右方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面上。",
+            "time": 10.655199
+        },
+        {
+            "action_description": "爪夹夹紧笔，向爪夹右方移动",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.15822222222222224,
+                            "id": "bbox_1767494720531_1767494891232_dl4ubyyvl",
+                            "width": 0.04200000000000008,
+                            "x": 0.514,
+                            "y": 0.2690370279947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7182222222222221,
+                            "id": "bbox_1767494720674_1767494887738_n6gb982fz",
+                            "width": 0.563,
+                            "x": 0.059,
+                            "y": 0.25659258355034725
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494894034_qz2oxznou",
+                            "x": 0.52,
+                            "y": 0.30459258355034724
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494897681_loh2p1kwm",
+                            "x": 0.535,
+                            "y": 0.2974814724392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹移动到了桌面正上方，方便将目标放在桌面上。",
+            "frame": 342,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧笔，到了爪夹右方的桌面正上方，方便放在桌面。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取笔使其放在桌面的任务应当：将笔放在桌面上，松开爪夹，使笔落在桌面上",
+            "time": 11.415199
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.11911111111111114,
+                            "id": "bbox_1767494720531_1767494910765_bx4w3d1u1",
+                            "width": 0.05,
+                            "x": 0.518,
+                            "y": 0.3365925835503472
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.6755555555555556,
+                            "id": "bbox_1767494720674_1767494914850_gt4fbko2d",
+                            "width": 0.58,
+                            "x": 0.07,
+                            "y": 0.28325925021701387
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494904618_m5gclss3x",
+                            "x": 0.527,
+                            "y": 0.36503702799479165
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494907154_uexs9zrsi",
+                            "x": 0.54,
+                            "y": 0.3614814724392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "笔放在桌面，方便笔落在桌面。",
+            "frame": 370,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，笔放在桌面。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，将笔放在桌面上。\n为完成抓取笔使其落在桌面的任务应当：松开爪夹，使笔落在桌面。",
+            "time": 12.3424
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767494720531": {
+                    "instances": [
+                        {
+                            "height": 0.09244444444444445,
+                            "id": "bbox_1767494720531_1767494925420_au817d1kh",
+                            "width": 0.03700000000000001,
+                            "x": 0.523,
+                            "y": 0.36503702799479165
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767494720674": {
+                    "instances": [
+                        {
+                            "height": 0.7004444444444444,
+                            "id": "bbox_1767494720674_1767494921434_dch1n3lbn",
+                            "width": 0.5650000000000001,
+                            "x": 0.074,
+                            "y": 0.28681480577256946
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767494721309": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721309_1767494929404_yqmpntf4k",
+                            "x": 0.516,
+                            "y": 0.3845925835503472
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767494721436": {
+                    "instances": [
+                        {
+                            "id": "point_1767494721436_1767494932550_jun4204v8",
+                            "x": 0.552,
+                            "y": 0.37037036132812506
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，笔落在桌面。",
+            "frame": 396,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，笔落在桌面，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落在桌面的任务目标完成。",
+            "time": 13.2088
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767494720531",
+            "name": "笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767494720674",
+            "name": "桌面"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767494721309",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767494721436",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008242.json

@@ -0,0 +1,426 @@
+{
+    "task_description": "用这个工具来搅拌碗里的东西。\n爪夹开始移动:0%\n爪夹靠近工具:30%\n爪夹夹起工具:50%\n爪夹晃动工具:70%\n爪夹成功晃动工具搅拌东西:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，暂未移动。",
+            "correction_plan": "调整爪夹角度向爪夹方向的右后方移动至工具上方，爪夹向爪夹方向左侧逆时针旋转，使爪夹两侧处于工具两侧，爪夹合拢抓取工具，向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "",
+            "frame": 107,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，准备开始移动，\n为完成用这个工具来搅拌碗里的东西的任务应当:调整爪夹角度向爪夹方向的右后方移动至工具上方，准备下降抓取工具。",
+            "time": 3.5633894544218743,
+            "annotations": {
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768795038404_asgp9xmgw",
+                            "x": 0.7721110368584572,
+                            "y": 0.6649629584418403
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768795041188_mztevuwao",
+                            "x": 0.46011105590142476,
+                            "y": 0.6323703613281251
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹微微向后移动。",
+            "correction_plan": "爪夹向爪夹方向的右后方移动至工具上方，爪夹向爪夹方向左侧逆时针旋转，使爪夹两侧处于工具两侧，爪夹合拢抓取工具，向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "爪夹调整角度，微微向爪夹方向后方移动，方便爪夹向爪夹右后方移动靠近工具。",
+            "frame": 140,
+            "progress": 5,
+            "progress_explanation": "目前爪夹调整角度，微微向爪夹方向后方移动，方便爪夹向爪夹右后方移动靠近工具，进度提升为5%。",
+            "state_description": "当前状态为爪夹打开，向爪夹后方移动，\n为完成用这个工具来搅拌碗里的东西的任务应当:调整爪夹角度向爪夹方向的右后方移动至工具上方，准备下降抓取工具。",
+            "time": 4.6586471174639135,
+            "annotations": {
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768795033180_o1zl9er5x",
+                            "x": 0.46111105584038964,
+                            "y": 0.6394814724392361
+                        }
+                    ]
+                },
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768795034876_uxby7yt71",
+                            "x": 0.7771110365532814,
+                            "y": 0.6714814724392361
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右后方移动。",
+            "correction_plan": "爪夹向爪夹方向左侧逆时针旋转，使爪夹两侧处于工具两侧，爪夹合拢抓取工具，向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "爪夹成功向爪夹右后方移动靠近工具，方便爪夹逆时针旋转靠近工具。",
+            "frame": 122,
+            "progress": 15,
+            "progress_explanation": "目前爪夹成功向爪夹右后方移动靠近工具，进度提升为15%。",
+            "state_description": "当前状态为爪夹打开，向爪夹右后方移动，\n为完成用这个工具来搅拌碗里的东西的任务应当:将爪夹逆时针旋转至工具正上方，方便爪夹合拢抓取。",
+            "time": 8.133333333333333,
+            "annotations": {
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768795016965_ozf5hrfcc",
+                            "x": 0.779111036431211,
+                            "y": 0.664370361328125
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768795019132_8otgolywo",
+                            "x": 0.46011105590142476,
+                            "y": 0.664370361328125
+                        }
+                    ]
+                },
+                "bbox_1768794948975": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794948975_1768795023189_wv16r35w4",
+                            "x": 0.18911107244195113,
+                            "y": 0.3568148057725694,
+                            "width": 0.15499999053955132,
+                            "height": 0.22044444444444447
+                        }
+                    ]
+                },
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768795028340_cl9kgn7lk",
+                            "x": 0.21711107073296687,
+                            "y": 0.39770369466145833,
+                            "width": 0.44099997308349775,
+                            "height": 0.328888888888889
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向左侧逆时针旋靠近工具。",
+            "correction_plan": "爪夹合拢抓取工具，向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "爪夹成功向爪夹方向左侧逆时针旋靠近工具，方便爪夹合拢抓取。",
+            "frame": 375,
+            "progress": 30,
+            "progress_explanation": "目前爪夹成功向爪夹方向左侧逆时针旋靠近工具，方便爪夹合拢抓取，进度提升为30%。",
+            "state_description": "当前状态为爪夹打开，靠近工具，\n为完成用这个工具来搅拌碗里的东西的任务应当:爪夹合拢抓取工具，向爪夹方向前后移动晃动工具。",
+            "time": 12.4965847686085,
+            "annotations": {
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768795010453_06eyfex3x",
+                            "x": 0.452111056389706,
+                            "y": 0.008962958441840278,
+                            "width": 0.13999999145507863,
+                            "height": 0.8195555555555556
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768795012525_yk6dxqeng",
+                            "x": 0.46011105590142476,
+                            "y": 0.6590370279947917
+                        }
+                    ]
+                },
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768795014429_ooh9l4rd8",
+                            "x": 0.7771110365532814,
+                            "y": 0.6732592502170139
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 15.508543341974109,
+            "frame": 465,
+            "progress": 50,
+            "action_description": "爪夹合拢抓取工具。",
+            "state_description": "当前状态为爪夹合拢，抓紧工具，\n为完成用这个工具来搅拌碗里的东西的任务应当:爪夹向爪夹方向前后移动晃动工具搅拌东西。",
+            "progress_explanation": "目前爪夹合拢成功抓取工具，方便爪夹向爪夹方向前后晃动，进度提升为50%。",
+            "error_success_analysis": "爪夹合拢成功抓取工具，方便爪夹向爪夹方向前后晃动来搅拌东西。",
+            "correction_plan": "向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "annotations": {
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768794996405_cspyxnnvc",
+                            "x": 0.6561110439385349,
+                            "y": 0.5956296251085069
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768794998592_rrnhz1x0o",
+                            "x": 0.5741110489434174,
+                            "y": 0.5861481391059028
+                        }
+                    ]
+                },
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768795003253_ine5ey9w7",
+                            "x": 0.5541110501641204,
+                            "y": 0.013703694661458335,
+                            "width": 0.11199999316406295,
+                            "height": 0.8266666666666668
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向前后移动晃动。",
+            "correction_plan": "爪夹持续向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "爪夹抓取工具，成功向爪夹方向前后晃动来搅拌碗里的东西。",
+            "frame": 305,
+            "progress": 70,
+            "progress_explanation": "目前爪夹抓取工具，成功向爪夹方向前后晃动，进度提升为70%。",
+            "state_description": "当前状态为爪夹合拢，抓紧工具，\n为完成用这个工具来搅拌碗里的东西的任务应当:爪夹持续向爪夹方向前后移动晃动工具搅拌东西。",
+            "time": 20.333333333333332,
+            "annotations": {
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768794988645_3mmub9v7p",
+                            "x": 0.5881110480889252,
+                            "y": 0.010148139105902778,
+                            "width": 0.08099999505615267,
+                            "height": 0.8124444444444445
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768794990989_f4tzgb9w5",
+                            "x": 0.5771110487603119,
+                            "y": 0.5790370279947916
+                        }
+                    ]
+                },
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768794993197_d733303ys",
+                            "x": 0.661111043633359,
+                            "y": 0.5861481391059028
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 25.066,
+            "frame": 752,
+            "progress": 80,
+            "action_description": "爪夹向爪夹方向前后移动晃动。",
+            "state_description": "当前状态为爪夹合拢，抓紧工具，\n为完成用这个工具来搅拌碗里的东西的任务应当:爪夹持续向爪夹方向前后移动晃动工具搅拌东西。",
+            "progress_explanation": "目前爪夹抓取工具，持续向爪夹方向前后晃动，进度提升为80%。",
+            "error_success_analysis": "爪夹抓取工具，成功向爪夹方向前后晃动来搅拌碗里的东西。",
+            "correction_plan": "爪夹持续向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "annotations": {
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768794977206_0cyf92mnn",
+                            "x": 0.6501110443047458,
+                            "y": 0.6110370279947916
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768794979165_vz5a5goyn",
+                            "x": 0.5871110481499604,
+                            "y": 0.5879259168836806
+                        }
+                    ]
+                },
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768794983638_7ewux53xm",
+                            "x": 0.5811110485161712,
+                            "y": 0.008370361328125001,
+                            "width": 0.0989999939575199,
+                            "height": 0.798222222222222
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向前后移动晃动。",
+            "correction_plan": "爪夹持续向爪夹方向前后移动工具，成功搅拌碗里的东西。",
+            "error_success_analysis": "爪夹抓取工具，成功向爪夹方向前后晃动来搅拌碗里的东西。",
+            "frame": 431,
+            "progress": 90,
+            "progress_explanation": "目前爪夹抓取工具，持续向爪夹方向前后晃动，进度提升为90%。",
+            "state_description": "当前状态为爪夹合拢，抓紧工具，\n为完成用这个工具来搅拌碗里的东西的任务应当:爪夹持续向爪夹方向前后移动晃动工具搅拌东西。",
+            "time": 28.733333333333334,
+            "annotations": {
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768794969806_ar22isx9o",
+                            "x": 0.5881110480889252,
+                            "y": 0.008370361328125001,
+                            "width": 0.09499999420166053,
+                            "height": 0.7822222222222222
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768794972438_0dqgmg1dt",
+                            "x": 0.583111048394101,
+                            "y": 0.5914814724392361
+                        }
+                    ]
+                },
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768794974718_kg29aqvus",
+                            "x": 0.6531110441216403,
+                            "y": 0.5914814724392361
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开向爪夹方向前方移动。",
+            "correction_plan": "任务完成。",
+            "error_success_analysis": "爪夹张开向爪夹方向前方移动，远离工具。",
+            "frame": 961,
+            "progress": 100,
+            "progress_explanation": "目前爪夹张开向爪夹方向前方移动，远离工具，进度提升为100%。",
+            "state_description": "当前状态为爪夹张开，远离工具，\n已完成用这个工具来搅拌碗里的东西的任务。",
+            "time": 32.040088693514875,
+            "annotations": {
+                "point_1768794922807": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794922807_1768794935984_qyxq8iuwd",
+                            "x": 0.7711110369194923,
+                            "y": 0.6787900933159722
+                        }
+                    ]
+                },
+                "point_1768794917400": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768794917400_1768794938534_6a66o0t64",
+                            "x": 0.46111105584038964,
+                            "y": 0.6414567599826388
+                        }
+                    ]
+                },
+                "bbox_1768794912359": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794912359_1768794943734_0uuy842ae",
+                            "x": 0.5341110513848235,
+                            "y": 0.01745675998263889,
+                            "width": 0.08499999481201206,
+                            "height": 0.8711111111111112
+                        }
+                    ]
+                },
+                "bbox_1768794948975": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768794948975_1768794962526_yi7djh9gf",
+                            "x": 0.5031110532769132,
+                            "y": 0.003234537760416667,
+                            "width": 0.15499999053955138,
+                            "height": 0.27555555555555555
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768794912359",
+            "name": "工具",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768794948975",
+            "name": "碗里的东西",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768794917400",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768794922807",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008475.json

@@ -0,0 +1,476 @@
+{
+    "task_description": "抓取坚果棒放在桌面上：\n准备开始移动：0%\n爪夹靠近坚果棒：20%\n爪夹抓取坚果棒：40%\n爪夹抓紧坚果棒接近桌面：60%\n爪夹将坚果棒放上桌面：80%\n爪夹松开坚果棒放在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹左后的坚果棒移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。接着落下爪夹靠近坚果棒，接近坚果棒后爪夹合拢抓取坚果棒。抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面，松开爪夹，使坚果棒落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离坚果棒，未开始移动。进度 0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离坚果棒，未开始移动。\n为完成抓取坚果棒使其放在桌面的任务应当：爪夹向爪夹左后方的坚果棒移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。",
+            "time": 0,
+            "annotations": {
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508485870_b0u5b4xyk",
+                            "x": 0.4600000000000001,
+                            "y": 0.6601481391059028
+                        }
+                    ]
+                },
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508493724_wr5n8ogl8",
+                            "x": 0.77,
+                            "y": 0.6317036946614584
+                        }
+                    ]
+                },
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508511722_axlpi9a4j",
+                            "x": 0.011,
+                            "y": 0.4930370279947917,
+                            "width": 0.983,
+                            "height": 0.5048888888888889
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。",
+            "correction_plan": "爪夹向爪夹左后的坚果棒移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。接着落下爪夹靠近坚果棒，接近坚果棒后爪夹合拢抓取坚果棒。抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面，松开爪夹，使坚果棒落在桌面上。",
+            "error_success_analysis": "爪夹的角度与桌面呈90度。水平上未接近坚果棒。",
+            "frame": 33,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹左后方移动，爪夹角度与桌面呈90度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近坚果棒。\n为完成抓取坚果棒使其放在桌面任务应当：爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。",
+            "time": 1.104,
+            "annotations": {
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508521200_te2y0hayl",
+                            "x": 0.004,
+                            "y": 0.2121481391059028,
+                            "width": 0.99,
+                            "height": 0.7786666666666668
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508531914_lwd7zfo0s",
+                            "x": 0.11200000000000002,
+                            "y": 0.7543703613281251,
+                            "width": 0.144,
+                            "height": 0.23999999999999994
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508534358_99gs1na9w",
+                            "x": 0.45499999999999996,
+                            "y": 0.6530370279947917
+                        }
+                    ]
+                },
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508536352_o6dr5fj71",
+                            "x": 0.77,
+                            "y": 0.6263703613281251
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动",
+            "correction_plan": "爪夹向爪夹左后的坚果棒移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。接着落下爪夹靠近坚果棒，接近坚果棒后爪夹合拢抓取坚果棒。抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面，松开爪夹，使坚果棒落在桌面上。",
+            "error_success_analysis": "爪夹角度与桌面呈90度，缩短了坚果棒之间的距离。方便后续抓取坚果棒。",
+            "frame": 62,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了坚果棒。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近坚果棒。\n为完成抓取坚果棒使其放在桌面任务应当：爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到坚果棒的正上方。",
+            "time": 2.08,
+            "annotations": {
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508541806_5sc633hbz",
+                            "x": 0.766,
+                            "y": 0.6388148057725694
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508544992_hhbtb06ox",
+                            "x": 0.45600000000000007,
+                            "y": 0.6690370279947917
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508560198_27fhjhicj",
+                            "x": 0.38,
+                            "y": 0.5819259168836806,
+                            "width": 0.18299999999999997,
+                            "height": 0.35022222222222227
+                        }
+                    ]
+                },
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508569882_dclgco27z",
+                            "x": 0.01,
+                            "y": 0.02014813910590278,
+                            "width": 0.982,
+                            "height": 0.9564444444444445
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹后方移动并垂直向下移动，调整爪夹角度",
+            "correction_plan": "爪夹合拢抓取坚果棒，抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方将坚果棒放在桌面上，松开爪夹，使坚果棒放在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了坚果棒，方便抓取。",
+            "frame": 158,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了坚果棒。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了坚果棒。准备抓取坚果棒。\n为完成抓取坚果棒使其放在桌面的任务应当：爪夹合拢抓取笔，抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近",
+            "time": 5.28,
+            "annotations": {
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508574686_o78qx2d94",
+                            "x": 0.45600000000000007,
+                            "y": 0.6601481391059028
+                        }
+                    ]
+                },
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508577610_6porgdixy",
+                            "x": 0.767,
+                            "y": 0.6281481391059027
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508582552_8s430qb02",
+                            "x": 0.5589999999999999,
+                            "y": 0.14281480577256944,
+                            "width": 0.191,
+                            "height": 0.8533333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面上，松开爪夹，使坚果棒落在桌面。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到坚果棒。",
+            "frame": 204,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到坚果棒。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到坚果棒，爪夹角度与桌面接近垂直。\n为完成抓取坚果棒使其放在桌面的任务应当：抓紧坚果棒垂直升高爪夹并向爪夹右方的桌面接近",
+            "time": 6.784,
+            "annotations": {
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508589148_pu27tsg8k",
+                            "x": 0.534,
+                            "y": -0.0011851942274305556,
+                            "width": 0.17700000000000005,
+                            "height": 0.9742222222222221
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508604996_bs52jlcto",
+                            "x": 0.542,
+                            "y": 0.5694814724392361
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧坚果棒，垂直升高，向爪夹右方移动。",
+            "correction_plan": "继续向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面上，松开爪夹，使坚果棒落在桌面。",
+            "error_success_analysis": "爪夹合拢继续夹紧坚果棒，水平上接近了桌面。更加方便接近桌面。",
+            "frame": 292,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧坚果棒，垂直升高并向爪夹右边的桌面接近。缩短了与桌面的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧坚果棒，水平上接近了桌面。\n为完成抓取坚果棒使其放在桌面的任务应当：继续向爪夹右方的桌面接近，水平到达桌面的正上方后将坚果棒放在桌面上，松开爪夹，使坚果棒落在桌面上。",
+            "time": 9.744,
+            "annotations": {
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508611542_00so1j4dh",
+                            "x": 0.5429999999999999,
+                            "y": 0.5570370279947917
+                        }
+                    ]
+                },
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508616584_mf94qu3j1",
+                            "x": 0.667,
+                            "y": 0.578370361328125
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508622668_k6iayypw7",
+                            "x": 0.534,
+                            "y": 0.0059259168836805565,
+                            "width": 0.217,
+                            "height": 0.9546666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧笔，向爪夹右方移动",
+            "correction_plan": "将坚果棒放在桌面，松开爪夹，使坚果棒落在桌面上",
+            "error_success_analysis": "爪夹移动���了桌面正上方，方便将目标放在桌面上。",
+            "frame": 329,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧坚果棒，到了爪夹右方的桌面正上方，方便放在桌面。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧坚果棒，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取坚果棒使其放在桌面的任务应当：将坚果棒放在桌面上，松开爪夹，使坚果棒落在桌面上",
+            "time": 10.976,
+            "annotations": {
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508636456_erzkrg5wd",
+                            "x": 0.6679999999999999,
+                            "y": 0.5694814724392361
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508639080_qh63pl7yh",
+                            "x": 0.538,
+                            "y": 0.5605925835503472
+                        }
+                    ]
+                },
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508650224_2vr209q05",
+                            "x": 0.51,
+                            "y": 0.0059259168836805565,
+                            "width": 0.48500000000000004,
+                            "height": 0.992
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508656898_1ylqj6x2v",
+                            "x": 0.526,
+                            "y": -0.0011851942274305556,
+                            "width": 0.22200000000000006,
+                            "height": 0.9742222222222221
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "correction_plan": "松开爪夹，使坚果棒落在桌面。",
+            "error_success_analysis": "坚果棒放在桌面，方便坚果棒落在桌面。",
+            "frame": 360,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，坚果棒放在桌面。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧坚果棒，爪夹角度接近垂直于桌面，将坚果棒放在桌面上。\n为完成抓取坚果棒使其落在桌面的任务应当：松开爪夹，使坚果棒落在桌面。",
+            "time": 12,
+            "annotations": {
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508664282_a49zqyb3n",
+                            "x": 0.527,
+                            "y": -0.0011851942274305556,
+                            "width": 0.21999999999999992,
+                            "height": 0.9813333333333333
+                        }
+                    ]
+                },
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508672158_la0lvqfrd",
+                            "x": 0.22600000000000003,
+                            "y": 0.00948147243923611,
+                            "width": 0.772,
+                            "height": 0.9742222222222223
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508675668_iehq8xzbb",
+                            "x": 0.5429999999999999,
+                            "y": 0.5641481391059028
+                        }
+                    ]
+                },
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508678296_x2jc1gxle",
+                            "x": 0.664,
+                            "y": 0.571259250217014
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开坚���棒放在桌面。",
+            "frame": 396,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，坚果棒放在桌面，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开坚果棒放在桌面的任务目标完成。",
+            "time": 13.184,
+            "annotations": {
+                "point_1767508459638": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459638_1767508878384_430ozrs5w",
+                            "x": 0.766,
+                            "y": 0.6245925835503472
+                        }
+                    ]
+                },
+                "point_1767508459504": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767508459504_1767508880510_g2c0vc3us",
+                            "x": 0.462,
+                            "y": 0.6405925835503473
+                        }
+                    ]
+                },
+                "bbox_1767508458662": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458662_1767508887268_k0f5forrh",
+                            "x": 0.187,
+                            "y": -0.0011851942274305556,
+                            "width": 0.8089999999999999,
+                            "height": 0.9848888888888889
+                        }
+                    ]
+                },
+                "bbox_1767508458324": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767508458324_1767508893312_e1e39pjii",
+                            "x": 0.495,
+                            "y": 0.0059259168836805565,
+                            "width": 0.35699999999999993,
+                            "height": 0.848
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767508458324",
+            "name": "坚果棒",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767508458662",
+            "name": "桌子",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767508459504",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767508459638",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008868.json

@@ -0,0 +1,494 @@
+{
+    "task_description": "抓取笔放在桌面上：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近桌面：60%\n爪夹将笔放上桌面：80%\n爪夹松开笔放在桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.256,
+                            "id": "bbox_1767513913103_1767514037417_g67yzupmj",
+                            "width": 0.10200000000000001,
+                            "x": 0.26,
+                            "y": 0.06992591688368056
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.5813333333333334,
+                            "id": "bbox_1767513913235_1767514020249_23lbteuh7",
+                            "width": 0.757,
+                            "x": 0.002,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767513996475_jfcgqgyy8",
+                            "x": 0.442,
+                            "y": 0.6761481391059028
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767513914845": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914845_1767514000057_616tf9vav",
+                            "x": 0.742,
+                            "y": 0.6494814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "",
+            "frame": 0,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%",
+            "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其放在桌面的任务应当：爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 0
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.28622222222222227,
+                            "id": "bbox_1767513913103_1767514043584_vx9hs1raq",
+                            "width": 0.08800000000000004,
+                            "x": 0.398,
+                            "y": 0.07703702799479167
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.608,
+                            "id": "bbox_1767513913235_1767514055205_5y6ymyzuv",
+                            "width": 0.892,
+                            "x": 0.019,
+                            "y": 0.0059259168836805565
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514060001_l0vbt7bev",
+                            "x": 0.44000000000000006,
+                            "y": 0.6637036946614584
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767513914845": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914845_1767514062995_l73m2swhk",
+                            "x": 0.74,
+                            "y": 0.642370361328125
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近笔。",
+            "frame": 154,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹左后方移动，爪夹角度与桌面呈80度。方便抓取。因此进度提升为 5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 5.1224
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.3982222222222222,
+                            "id": "bbox_1767513913103_1767514120283_dyy4pkzkb",
+                            "width": 0.05499999999999998,
+                            "x": 0.644,
+                            "y": 0.12681480577256946
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.775111111111111,
+                            "id": "bbox_1767513913235_1767514130723_nnkjtl1ks",
+                            "width": 0.8790000000000001,
+                            "x": 0.119,
+                            "y": 0.0059259168836805565
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514113885_igehg2js9",
+                            "x": 0.44400000000000006,
+                            "y": 0.6761481391059028
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767513914845": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914845_1767514110899_b8jxlvjcg",
+                            "x": 0.738,
+                            "y": 0.6565925835503472
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹角度与桌面呈80度，缩短了笔之间的距离。方便后续抓取笔。",
+            "frame": 198,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈80度。还未接近笔。\n为完成抓取笔使其放在桌面任务应当：爪夹向爪夹左后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。",
+            "time": 6.612
+        },
+        {
+            "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.7182222222222222,
+                            "id": "bbox_1767513913103_1767514142851_uklaobruz",
+                            "width": 0.07400000000000002,
+                            "x": 0.65,
+                            "y": 0.05570369466145834
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.9777777777777777,
+                            "id": "bbox_1767513913235_1767514155367_21i72t3eq",
+                            "width": 0.9960000000000001,
+                            "x": 0.002,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514158367_3etywrani",
+                            "x": 0.44400000000000006,
+                            "y": 0.6814814724392362
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767513914845": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914845_1767514161529_okjq42ebn",
+                            "x": 0.736,
+                            "y": 0.6548148057725695
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方将笔放在桌面上，松开爪夹，使笔放在桌面上。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。",
+            "frame": 254,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其放在桌面的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的桌面接近",
+            "time": 8.4664
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.6844444444444444,
+                            "id": "bbox_1767513913103_1767514176007_62r8muu6w",
+                            "width": 0.13099999999999995,
+                            "x": 0.54,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.9866666666666666,
+                            "id": "bbox_1767513913235_1767514187269_t8vi8lyrd",
+                            "width": 0.9970000000000001,
+                            "x": 0.002,
+                            "y": 0.007703694661458333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514166945_j4u655r4c",
+                            "x": 0.5389999999999999,
+                            "y": 0.6032592502170139
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔。",
+            "frame": 287,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其放在桌面的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的桌面接近",
+            "time": 9.575999
+        },
+        {
+            "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.7164444444444444,
+                            "id": "bbox_1767513913103_1767514205413_9lvjc4j2c",
+                            "width": 0.08200000000000003,
+                            "x": 0.558,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.5262222222222223,
+                            "id": "bbox_1767513913235_1767514199713_od969m51e",
+                            "width": 0.974,
+                            "x": 0.024,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514208793_rrjm3ioym",
+                            "x": 0.538,
+                            "y": 0.5997036946614583
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了桌面。更加方便接近桌面。",
+            "frame": 317,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的桌面接近。缩短了与桌面的距离。因此进度提升为 50%",
+            "state_description": "爪夹合拢夹紧笔，水平上接近了桌面。\n为完成抓取笔使其放在桌面的任务应当：继续向爪夹左方的桌面接近，水平到达桌面的正上方后将笔放在桌面上，松开爪夹，使笔落在桌面上。",
+            "time": 10.563999
+        },
+        {
+            "action_description": "爪夹夹紧笔，向爪夹左方移动",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.7217777777777779,
+                            "id": "bbox_1767513913103_1767514220795_qp85qnxch",
+                            "width": 0.07800000000000003,
+                            "x": 0.562,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.6986666666666667,
+                            "id": "bbox_1767513913235_1767514228747_883nbwpip",
+                            "width": 0.9339999999999999,
+                            "x": 0.064,
+                            "y": -0.0011851942274305556
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514213431_1cbbbukqd",
+                            "x": 0.535,
+                            "y": 0.6245925835503472
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将笔放在桌面，松开爪夹，使笔落在桌面上。",
+            "error_success_analysis": "爪夹移动到了桌面正上方，方便将目标放在桌面上。",
+            "frame": 336,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧笔，到了爪夹右方的桌面正上方，方便放在桌面。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取笔使其放在桌面的任务应当：将笔放在桌面上，松开爪夹，使笔落在桌面上",
+            "time": 11.187199
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.7182222222222222,
+                            "id": "bbox_1767513913103_1767514242309_2dqjtwiyq",
+                            "width": 0.1,
+                            "x": 0.5509999999999999,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.9795555555555555,
+                            "id": "bbox_1767513913235_1767514236711_og2ognzrk",
+                            "width": 0.877,
+                            "x": 0.122,
+                            "y": 0.0005925835503472223
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514245753_wb2md5yvg",
+                            "x": 0.54,
+                            "y": 0.6139259168836806
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使笔落在桌面。",
+            "error_success_analysis": "笔放在桌面，方便笔落在桌面。",
+            "frame": 361,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，笔放在桌面。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧笔，爪夹角度接近垂���于桌面，将笔放在桌面上。\n为完成抓取笔使其落在桌面的任务应当：松开爪夹，使笔落在桌面。",
+            "time": 12.0384
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767513913103": {
+                    "instances": [
+                        {
+                            "height": 0.6666666666666666,
+                            "id": "bbox_1767513913103_1767514260365_0547spv9k",
+                            "width": 0.20400000000000001,
+                            "x": 0.5660000000000001,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767513913235": {
+                    "instances": [
+                        {
+                            "height": 0.9955555555555556,
+                            "id": "bbox_1767513913235_1767514267255_ed6mutpsu",
+                            "width": 0.8880000000000001,
+                            "x": 0.11000000000000001,
+                            "y": 0.0023703613281250003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767513914715": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914715_1767514250425_obtmon0vk",
+                            "x": 0.4600000000000001,
+                            "y": 0.6565925835503472
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767513914845": {
+                    "instances": [
+                        {
+                            "id": "point_1767513914845_1767514252555_8a72yzoge",
+                            "x": 0.7100000000000001,
+                            "y": 0.6281481391059027
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，笔落在桌面。",
+            "frame": 399,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，笔落在桌面，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落在桌面的任务目标完成。",
+            "time": 13.315199
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767513913103",
+            "name": "笔"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767513913235",
+            "name": "桌子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767513914715",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767513914845",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008884.json

@@ -0,0 +1,1162 @@
+{
+    "task_description": "拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧。\n准备移动：0%\n爪夹抓取右侧瓶子：25%\n爪夹将右侧瓶子直立放置在右侧桌面上：50%\n爪夹抓取左侧瓶子：75%\n爪夹将左侧瓶子直立放置在左侧桌面上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开扶状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达右侧瓶子的正上方后下降，抓取右侧瓶子后垂直上升，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "",
+            "frame": 38,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触右侧瓶子。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，准备抓取右侧瓶子。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 1.2745003627816198,
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768788106510_6jtnnzj8o",
+                            "x": 0.6211110460747652,
+                            "y": 0.5276790093315972,
+                            "width": 0.0789999951782229,
+                            "height": 0.24177777777777792
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768788116334_l8mjmdb56",
+                            "x": 0.5391110510796477,
+                            "y": 0.5312345648871528,
+                            "width": 0.07799999523925809,
+                            "height": 0.208
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768788131926_xwbmu5pcf",
+                            "x": 0.44011105712212784,
+                            "y": 0.5881234537760417
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768788134374_i2qbz0ptt",
+                            "x": 0.7741110367363868,
+                            "y": 0.593456787109375
+                        }
+                    ]
+                },
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768784573600_ey37d0rxf",
+                            "x": 0.16911107366265418,
+                            "y": 0.49113579644097227,
+                            "width": 0.17899998907470765,
+                            "height": 0.16177777777777771
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右下方微调，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达右侧瓶子的正上方后下降，抓取右侧瓶子后垂直上升，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近右侧瓶子，并使爪夹角度向垂直于桌面调整��方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 43,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近右侧瓶子并开始调整爪夹角度方便抓取，因此进度提升为10%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，与右侧瓶子的水平距离略微缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的前方移动直至位于右侧瓶子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 2.8666666666666667,
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784584144_y9ulhppnz",
+                            "x": 0.48611105431451085,
+                            "y": 0.36767900933159725,
+                            "width": 0.12399999243164102,
+                            "height": 0.37866666666666665
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768784591577_0vkpk4hcy",
+                            "x": 0.3971110597466394,
+                            "y": 0.4085678982204861,
+                            "width": 0.08899999456787144,
+                            "height": 0.3057777777777778
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784602696_ezj4dehpn",
+                            "x": 0.43911105718316296,
+                            "y": 0.5845678982204862
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784604432_i93mhkoth",
+                            "x": 0.7701110369805274,
+                            "y": 0.5970123426649305
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动到右侧瓶子的正上方。",
+            "correction_plan": "爪夹下降，抓取右侧瓶子后垂直上升，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，并且已经移动到了右侧瓶子的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 62,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于右侧瓶子的正上方，已接近右侧瓶子，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到右侧瓶子的正上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹下降，抓取右侧瓶子后垂直上升，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。",
+            "time": 4.133333333333334,
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784609543_023qnq6j3",
+                            "x": 0.7781110364922463,
+                            "y": 0.5899012315538195
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784611872_631obisjq",
+                            "x": 0.43711105730523325,
+                            "y": 0.5810123426649306
+                        }
+                    ]
+                },
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784620896_evx5mfqk4",
+                            "x": 0.4711110552300381,
+                            "y": 0.4867901204427083,
+                            "width": 0.17999998901367248,
+                            "height": 0.3306666666666667
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768784626640_n2s9yns5c",
+                            "x": 0.21611107079400202,
+                            "y": 0.6201234537760416,
+                            "width": 0.17499998931884822,
+                            "height": 0.23111111111111124
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降并合拢爪夹抓取右侧瓶子。",
+            "correction_plan": "垂直抬起爪夹，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。\t\t\t",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，并成功抓取到右侧瓶子。",
+            "frame": 98,
+            "progress": 25,
+            "progress_explanation": "当前爪夹已悬空于右侧瓶子的正上方，已接近右侧瓶子，因此进度提升为40%。\t",
+            "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到右侧瓶子。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取右侧瓶子后垂直上升，向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。",
+            "time": 6.533333333333333,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768784648552_3381jpe19",
+                            "x": 0.20911107122124806,
+                            "y": 0.8299012315538193,
+                            "width": 0.20899998724365315,
+                            "height": 0.16888888888888892
+                        }
+                    ]
+                },
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784654912_50y9tewdh",
+                            "x": 0.5671110493706635,
+                            "y": 0.6041234537760417,
+                            "width": 0.14399999121093804,
+                            "height": 0.23111111111111107
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784662144_2acjsu3dj",
+                            "x": 0.6261110457695894,
+                            "y": 0.561456787109375
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784664729_9c845q1fz",
+                            "x": 0.596111047600644,
+                            "y": 0.5579012315538194
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹上升，抓住右侧瓶子向爪夹方向的右侧移动。",
+            "correction_plan": "爪夹继续向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹已经抓取到右侧瓶子，在水平方向上成功接近右侧桌面。",
+            "frame": 130,
+            "progress": 30,
+            "progress_explanation": "当前爪夹已抓住右侧瓶子，与右侧桌面的水平距离缩短，因此进度提升为30%。",
+            "state_description": "当前爪夹合拢，抓住右侧瓶子处于右侧桌面的左上方。\n为完成拿起放在桌子上的瓶子��将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取右侧瓶子向爪夹方向的右边移动，直至右侧瓶子处于右侧桌面的正上方。",
+            "time": 8.666666666666666,
+            "annotations": {
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784680144_8npa409ls",
+                            "x": 0.5931110477837495,
+                            "y": 0.5596790093315972
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784683863_y27pi3m63",
+                            "x": 0.6211110460747652,
+                            "y": 0.5507901204427084
+                        }
+                    ]
+                },
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784692135_dx1fx485o",
+                            "x": 0.5761110488213471,
+                            "y": 0.609456787109375,
+                            "width": 0.13599999169921925,
+                            "height": 0.2026666666666666
+                        }
+                    ]
+                },
+                "bbox_1768787775533": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787775533_1768784704752_5dqqqpowx",
+                            "x": 0.6591110437554294,
+                            "y": 0.449456787109375,
+                            "width": 0.19299998822021552,
+                            "height": 0.16533333333333336
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧右侧瓶子继续向爪夹方向的右前方微调。",
+            "correction_plan": "爪夹向爪夹方向的右下方移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹已经抓取到右侧瓶子，在水平方向上更加接近右侧桌面。",
+            "frame": 299,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已抓住右侧瓶子，与右侧桌面的水平距离缩短，因此进度提升为40%。",
+            "state_description": "当前爪夹合拢，抓住右侧瓶子处于右侧桌面的左上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取右侧瓶子向爪夹方向的左下方移动，直至右侧瓶子处于右侧桌面的正上方。",
+            "time": 9.971407032042386,
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784715255_sqk7r6e1k",
+                            "x": 0.4801110546807217,
+                            "y": 0.6147901204427083,
+                            "width": 0.23999998535156344,
+                            "height": 0.34311111111111114
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784721496_zz0rsbi3i",
+                            "x": 0.5911110479058197,
+                            "y": 0.5507901204427084
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784723191_ywgirdyy1",
+                            "x": 0.6211110460747652,
+                            "y": 0.5490123426649306
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 11.05264407740994,
+            "frame": 332,
+            "progress": 42,
+            "action_description": "爪夹向爪夹方向的右下方移动。",
+            "state_description": "当前爪夹合拢，抓住右侧瓶子处于右侧桌面的左上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取右侧瓶子向爪夹方向的右下方移动，直至右侧瓶子处于右侧桌面的正上方。",
+            "progress_explanation": "当前爪夹已抓住右侧瓶子，与右侧桌面的水平距离缩短了，因此进度提升为40%。",
+            "error_success_analysis": "爪夹抓取到右侧瓶子，在水平方向上更加接近右侧桌面。",
+            "correction_plan": "爪夹向爪夹方向的右下方移动，直至右侧瓶子处于右侧桌面的正上方。下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768787066173_tvv34k4fp",
+                            "x": 0.49111105400933497,
+                            "y": 0.6078765326605903,
+                            "width": 0.22799998608398528,
+                            "height": 0.3591111111111111
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768787073614_kxmkjeqan",
+                            "x": 0.590111047966855,
+                            "y": 0.5527654215494792
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768787075463_2ifk91h4z",
+                            "x": 0.6201110461358004,
+                            "y": 0.5456543104383681
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续抓紧右侧瓶子向爪夹方向的右下方移动。",
+            "correction_plan": "爪夹松开，右侧瓶子掉落在右侧桌面上。爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的右下方移动，成功将右侧瓶子移动到右侧桌面的上方。",
+            "frame": 380,
+            "progress": 45,
+            "progress_explanation": "当前右侧瓶子位于右侧桌子的上方，因此进度提升为45%。",
+            "state_description": "当前爪夹合拢，右侧瓶子位于右侧桌子上。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:下降将右侧瓶子放入右侧桌面中，松开爪夹。然后爪夹向爪夹方向的左后方移动。",
+            "time": 12.650994492301109,
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784743279_eq9gqsb1r",
+                            "x": 0.5671110493706635,
+                            "y": 0.6041234537760417,
+                            "width": 0.150999990783692,
+                            "height": 0.21155555555555564
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784750127_qvsd2ml74",
+                            "x": 0.5911110479058197,
+                            "y": 0.5507901204427084
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784752231_c8rtsgvih",
+                            "x": 0.6201110461358004,
+                            "y": 0.545456787109375
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微向上抬升。",
+            "correction_plan": "爪夹松开，右侧瓶子掉落在右侧桌面上。爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下��将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向上略微抬升，右侧瓶子成功掉落在右侧桌面上。",
+            "frame": 220,
+            "progress": 50,
+            "progress_explanation": "当前右侧瓶子直立放置在右侧桌面上。因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，右侧瓶子掉落在右侧桌面上。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，合拢爪夹抓取左侧瓶子。",
+            "time": 14.666666666666666,
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784758223_qbfqre7i2",
+                            "x": 0.6241110458916597,
+                            "y": 0.5507901204427084
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784760263_gfh7p70ro",
+                            "x": 0.5921110478447846,
+                            "y": 0.5507901204427084
+                        }
+                    ]
+                },
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784765711_yw3h45wyk",
+                            "x": 0.49111105400933514,
+                            "y": 0.8263456759982639,
+                            "width": 0.08499999481201197,
+                            "height": 0.15822222222222232
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微抬升，并向爪夹的左方略微移动。",
+            "correction_plan": "爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧略微移动，水平方向上略微接近左侧瓶子。",
+            "frame": 249,
+            "progress": 55,
+            "progress_explanation": "当前爪夹在水平方向上略微接近左侧瓶子并开始调整爪夹角度方便抓取，因此进度提升为55%。",
+            "state_description": "当前爪夹张开，爪夹与左侧瓶子的水平距离略微缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹向爪夹方向的左后方移动，到达左侧瓶子的正上方后下降，合拢爪夹抓取左侧瓶子。",
+            "time": 16.6,
+            "annotations": {
+                "bbox_1768787743807": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787743807_1768784784367_b1di08cpz",
+                            "x": 0.5561110500420501,
+                            "y": 0.6307901204427082,
+                            "width": 0.20699998736572348,
+                            "height": 0.16711111111111118
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784794752_04ai0kri1",
+                            "x": 0.4571110560845303,
+                            "y": 0.5756790093315972
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784797087_5fpbqvooo",
+                            "x": 0.7491110382622657,
+                            "y": 0.5845678982204862
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹继续向爪夹方向的左后方移动。",
+            "correction_plan": "爪夹向爪夹方向的右后方移动，到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近左侧瓶子。",
+            "frame": 585,
+            "progress": 60,
+            "progress_explanation": "当前爪夹在水平方向上更加接近左侧瓶子并开始调整爪夹角度方便抓取，因此进度提升为55%。",
+            "state_description": "当前爪夹张开，爪夹与左侧瓶子的水平距离进一步缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹继续向爪夹方向的右后方移动，到达左侧瓶子的正上方后下降，合拢爪夹抓取左侧瓶子。",
+            "time": 19.514499215069065,
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768784802399_iujnz4jtg",
+                            "x": 0.7711110369194923,
+                            "y": 0.5987901204427083
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768784804079_ov7rz4ba4",
+                            "x": 0.4321110576104091,
+                            "y": 0.5881234537760417
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768784975414_dbcvde99x",
+                            "x": 0.6081110468682223,
+                            "y": 0.7196790093315973,
+                            "width": 0.1029999937133792,
+                            "height": 0.11022222222222224
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 20.976,
+            "frame": 629,
+            "progress": 70,
+            "action_description": "爪夹向爪夹方向的右后方移动到左侧瓶子的正上方。",
+            "state_description": "当前爪夹张开，爪夹位于左侧瓶子的正上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹到达左侧瓶子的正上方后下降，合拢爪夹抓取左侧瓶子。",
+            "progress_explanation": "当前爪夹已悬空于左侧瓶子的正上方，已接近左侧瓶子，因此进度提升为70%",
+            "error_success_analysis": "爪夹向爪夹方向的右后方移动，并且已经移动到了左侧瓶子的正上方，方便抓取。",
+            "correction_plan": "爪夹到达左侧瓶子的正上方后下降，抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768784988302_l5wds82dt",
+                            "x": 0.46711105547417864,
+                            "y": 0.2716790093315973,
+                            "width": 0.27799998303222767,
+                            "height": 0.5457777777777778
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785000758_t0ngegyd6",
+                            "x": 0.44011105712212784,
+                            "y": 0.5739012315538194
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785002614_a2mnoun1h",
+                            "x": 0.7811110363091408,
+                            "y": 0.5916790093315972
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "下降爪夹并合拢爪夹抓取左侧瓶子。",
+            "correction_plan": "爪夹抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的下方移动，并成功抓取到左侧瓶子。",
+            "frame": 321,
+            "progress": 74,
+            "progress_explanation": "当前爪夹已悬空于左侧瓶子，已接近左侧瓶子，因此进度提升为74%.",
+            "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到左侧瓶子。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方",
+            "time": 21.4,
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785012318_u1w03liap",
+                            "x": 0.734111039177793,
+                            "y": 0.5810123426649306
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785020158_nk3wy2o38",
+                            "x": 0.45611105614556535,
+                            "y": 0.1383456759982639,
+                            "width": 0.3019999815673839,
+                            "height": 0.6844444444444445
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 22.6176,
+            "frame": 679,
+            "progress": 73,
+            "action_description": "爪夹抓住左侧瓶子瓶子略微向爪夹方向的前方移动后松开爪夹。",
+            "state_description": "当前爪夹张开左侧瓶子，瓶子依然倒在桌子上。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹到达左侧瓶子的正上方后下降，合拢爪夹抓取左侧瓶子。",
+            "progress_explanation": "当前爪夹位于左侧瓶子的正上方，并未成功抓取左侧瓶子，因此进度下降为73%。",
+            "error_success_analysis": "当前爪夹抓住左侧瓶子向爪夹的前方移动后松开爪夹，抓取左侧瓶子失败。",
+            "correction_plan": "重新合拢爪夹抓取左侧瓶子，爪夹抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785031111_f4vgoecz6",
+                            "x": 0.4941110538262296,
+                            "y": 0.16679012044270833,
+                            "width": 0.3119999809570323,
+                            "height": 0.656
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785035318_zqmmjggo6",
+                            "x": 0.4661110555352138,
+                            "y": 0.5703456759982639
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "合拢爪夹抓取到左侧瓶子并向爪夹方向的前方略微移动。",
+            "correction_plan": "爪夹抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹合拢并向爪夹前方略微移动，爪夹已经成功抓取到左侧瓶子。",
+            "frame": 359,
+            "progress": 75,
+            "progress_explanation": "当前爪夹合拢，爪夹重新抓取到左侧瓶子，因此进度提升为75%。",
+            "state_description": "当前爪夹合拢，爪夹已经抓取到左侧瓶子。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹抓取左侧瓶子后垂直上升，向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。",
+            "time": 23.933333333333334,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785043990_ymzcts0fz",
+                            "x": 0.4801110546807217,
+                            "y": 0.161456787109375,
+                            "width": 0.31899998052978634,
+                            "height": 0.6755555555555556
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹夹紧左侧瓶子向爪夹方向的左上方略微移动。",
+            "correction_plan": "爪夹抓取左侧瓶子向爪夹方向的左边移动，直至左侧瓶子处于左侧桌面的正上方。下降���左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹夹紧左侧瓶子向爪夹方向的左上方略微移动，并且在向着左侧桌面的方向靠近。",
+            "frame": 375,
+            "progress": 77,
+            "progress_explanation": "当前爪夹已抓住左侧瓶子，并且与左侧桌面的水平距离略微缩短，因此进度提升为77%\n",
+            "state_description": "当前爪夹合拢，左侧瓶子在水平距离上与左侧桌面的水平距离略微缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹夹紧左侧瓶子向爪夹方向的左后方移动，直至左侧瓶子处于左侧桌面的正上方。",
+            "time": 25,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785051334_j8dzzgln1",
+                            "x": 0.4871110542534757,
+                            "y": 0.21301234266493055,
+                            "width": 0.36999997741699353,
+                            "height": 0.6755555555555556
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 26.676,
+            "frame": 800,
+            "progress": 80,
+            "action_description": "爪夹抓住左侧瓶子继续向爪夹方向的左上方移动。",
+            "state_description": "当前爪夹合拢，左侧瓶子在水平距离上与左侧桌面的水平距离进一步缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:爪夹夹紧左侧瓶子向爪夹方向的后方移动，直至左侧瓶子处于左侧桌面的正上方。",
+            "progress_explanation": "当前爪夹已抓住左侧瓶子，并且与左侧桌面的水平距离略微缩短，因此进度提升为80%\n",
+            "error_success_analysis": "爪夹夹紧左侧瓶子向爪夹方向的左上方移动，并且在向着左侧桌面的方向靠近。",
+            "correction_plan": "爪夹抓取左侧瓶子向爪夹方向的后方移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785064150_hvwqtlkzb",
+                            "x": 0.4721110551690029,
+                            "y": 0.2165678982204861,
+                            "width": 0.3779999769287124,
+                            "height": 0.624
+                        }
+                    ]
+                },
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768785077253_e0ce4osi6",
+                            "x": 0.43611105736626843,
+                            "y": 0.16679012044270833,
+                            "width": 0.4849999703979509,
+                            "height": 0.43555555555555553
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "调整爪夹角度并松开爪夹。",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左侧移动，直至移动到左侧瓶子的正上方，下降爪夹抓取左侧瓶子向爪夹方向的后方移动，直至左侧瓶子处于左侧桌面的正上方。下降将左侧瓶子放入左侧桌面中，松开爪夹。",
+            "error_success_analysis": "爪夹向右侧调整角度使左侧瓶子位于左侧桌面的上方，松开爪夹后瓶子横向摔落在左侧桌面上。",
+            "frame": 439,
+            "progress": -50,
+            "progress_explanation": "当前左侧瓶子并未直立放置在左侧桌子上，因此进度下降为-50%。",
+            "state_description": "当前爪夹张开，左侧瓶子横向掉落在左侧桌面上。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左侧移动直至左侧瓶子的正上方。",
+            "time": 29.266666666666666,
+            "annotations": {
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768785092557_jgaorfa4f",
+                            "x": 0.498111053582089,
+                            "y": 0.006790120442708334,
+                            "width": 0.44299997296142746,
+                            "height": 0.21333333333333332
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785102429_q71ic40q4",
+                            "x": 0.43911105718316296,
+                            "y": 0.003234564887152778,
+                            "width": 0.4479999726562517,
+                            "height": 0.4799999999999999
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785108397_5d8woxour",
+                            "x": 0.4771110548638272,
+                            "y": 0.5561234537760417
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785111461_7j9j8xut7",
+                            "x": 0.7231110398491796,
+                            "y": 0.5721234537760417
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右方移动。并调整爪夹角度，使其接近于垂直桌面。",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左后方移动，直至移动到左侧瓶子的正上方，下降爪夹抓取左侧瓶子后抬升爪夹将左侧瓶子直立放置在左侧桌面上，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上远离左侧瓶子，并使爪夹角度向垂直于桌面调整，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 924,
+            "progress": -30,
+            "progress_explanation": "当前爪夹在水平方向上虽然离左侧瓶子较远，但是开始调整爪夹角度方便抓取，因此进度提升为-30%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，爪夹与左侧瓶子的水平距离变远。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左侧移动直至左侧瓶子的正上方。",
+            "time": 30.796972731947893,
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785116454_1f88i3drt",
+                            "x": 0.7681110371025978,
+                            "y": 0.5987901204427083
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785118725_nqawh62x0",
+                            "x": 0.4321110576104091,
+                            "y": 0.5739012315538194
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785126876_rak0wm689",
+                            "x": 0.46211105577935446,
+                            "y": 0.35345678710937506,
+                            "width": 0.2249999862670907,
+                            "height": 0.3644444444444444
+                        }
+                    ]
+                },
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768785148229_zy9zzz6gu",
+                            "x": 0.41111105889214716,
+                            "y": 0.22190123155381944,
+                            "width": 0.43099997369384935,
+                            "height": 0.46933333333333344
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升并向爪夹方向的左后方移动。",
+            "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至移动到左侧瓶子的正上方，下降爪夹抓取左侧瓶子后抬升爪夹将左侧瓶子直立放置在左侧桌面上，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近左侧瓶子，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 486,
+            "progress": -10,
+            "progress_explanation": "当前爪夹在水平方向上成功接近左侧瓶子并调整爪夹角度方便抓取，因此进度提升为-10%。",
+            "state_description": "当前爪夹张开，与左侧瓶子的水平距离略微缩短。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:调整爪夹角度，使其垂直于桌面。爪夹继续向爪夹方向的左后方移动直至左侧瓶子的正上方。",
+            "time": 32.4,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785185557_wwnuf8ez2",
+                            "x": 0.44011105712212784,
+                            "y": 0.26101234266493056,
+                            "width": 0.2709999834594736,
+                            "height": 0.4533333333333335
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785194390_ytdqvp911",
+                            "x": 0.4321110576104091,
+                            "y": 0.5721234537760417
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785196189_efunkt3n6",
+                            "x": 0.7691110370415626,
+                            "y": 0.609456787109375
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 33.24150866060497,
+            "frame": 997,
+            "progress": -12,
+            "action_description": "爪夹向爪夹方向的右下方移动。",
+            "state_description": "当前爪夹张开，与左侧瓶子的水平距离变远。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:调整爪夹角度，使其垂直于桌面。爪夹继续向爪夹方向的左后方移动直至左侧瓶子的正上方。",
+            "progress_explanation": "当前爪夹在水平方向上距离左侧瓶子变远，因此进度下降为-12%。",
+            "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上远离左侧瓶子，不方便抓取。",
+            "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至移动到左侧瓶子的正上方，下降爪夹抓取左侧瓶子，抬升爪夹并调整爪甲角度将左侧瓶子直立放置在左侧桌面上，松开爪夹。",
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785200477_n9gpzijcu",
+                            "x": 0.7691110370415626,
+                            "y": 0.6023456759982638
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785202725_bs9yhmo2u",
+                            "x": 0.43611105736626843,
+                            "y": 0.5721234537760417
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785211684_ywrpv8vr7",
+                            "x": 0.36811106151665884,
+                            "y": 0.005012342664930555,
+                            "width": 0.3109999810180676,
+                            "height": 0.4764444444444444
+                        }
+                    ]
+                },
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768785230236_wmiuoqv18",
+                            "x": 0.4212205084746311,
+                            "y": -0.034571850685255354,
+                            "width": 0.29599998193359484,
+                            "height": 0.46222222222222226
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左下方移动并合拢爪夹重新抓取到左侧瓶子。",
+            "correction_plan": "抬升爪甲并调整爪夹角度，将左侧瓶子直立放置在左侧桌面��，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且成功抓取到左侧瓶子。",
+            "frame": 523,
+            "progress": 76,
+            "progress_explanation": "当前爪夹已经成功抓取到左侧瓶子。因此进度提升为76%。",
+            "state_description": "当前爪夹合拢，爪夹已经抓取到左侧瓶子。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:抬升爪甲并调整爪夹角度，将左侧瓶子直立放置在左侧桌面上。",
+            "time": 34.86666666666667,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785258341_crvroj9re",
+                            "x": 0.4771110548638271,
+                            "y": -0.00032099066840277757,
+                            "width": 0.49299996990966993,
+                            "height": 0.8177777777777778
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785275516_gl1899lrt",
+                            "x": 0.7371110389946874,
+                            "y": 0.6343456759982639
+                        }
+                    ]
+                },
+                "bbox_1768787776158": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787776158_1768784619226_cydwwefbt",
+                            "x": 0.4749624270903182,
+                            "y": -0.000895585715869329,
+                            "width": 0.5215951596330805,
+                            "height": 0.3377578656695453
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓紧左侧瓶子并向上抬升。",
+            "correction_plan": "继续抬升爪甲并调整爪夹角度，将左侧瓶子直立放置在左侧桌面上，松开爪夹。",
+            "error_success_analysis": "爪夹调整角度并向上抬升，方便将左侧瓶子直立放置在左侧桌面上。",
+            "frame": 550,
+            "progress": 85,
+            "progress_explanation": "当前爪夹已经成功抓取到左侧瓶子，左侧瓶子即将直立放置在左侧桌面上，因此进度提升为76%。",
+            "state_description": "当前爪夹合拢，左侧瓶子位于左侧桌面的上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:抬升爪甲并调整爪夹角度，将左侧瓶子直立放置在左侧桌面上。",
+            "time": 36.666666666666664,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785286276_hp2vi39d6",
+                            "x": 0.4801110546807217,
+                            "y": 0.001456787109375,
+                            "width": 0.517999968383791,
+                            "height": 0.8248888888888888
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降将左侧瓶子直立放置在左侧桌面上。",
+            "correction_plan": "松开爪夹,左侧瓶子直立放置在左侧桌面上，。",
+            "error_success_analysis": "爪夹下降成功将左侧瓶子直立放置在左侧桌面上。",
+            "frame": 597,
+            "progress": 90,
+            "progress_explanation": "当前左侧瓶子已经位于左侧桌面上，因此进度提升为90%。",
+            "state_description": "当前爪夹合拢，左侧瓶子位于左侧桌面的上方。\n为完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务应当:松开爪夹，左侧瓶子直立放置在左侧桌面上。",
+            "time": 39.8,
+            "annotations": {
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785319924_bnmhg4s68",
+                            "x": 0.4811110546196865,
+                            "y": -0.002098768446180552,
+                            "width": 0.5129999686889668,
+                            "height": 0.8373333333333335
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785334756_3zr1ql96q",
+                            "x": 0.5131110526665617,
+                            "y": 0.5756790093315972
+                        }
+                    ]
+                },
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785336693_51z5ey1ok",
+                            "x": 0.6931110416802342,
+                            "y": 0.5863456759982639
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 41.09222981609983,
+            "frame": 1233,
+            "progress": 100,
+            "action_description": "爪夹张开。",
+            "state_description": "当前爪夹张开，左侧瓶子直立放置在左侧桌面上，已完成拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务。",
+            "progress_explanation": "当前左侧瓶子已经直立放置在左侧桌面上，因此进度提升为100%。",
+            "error_success_analysis": "爪夹张开，左侧瓶子成功直立放置在左侧桌面上。",
+            "correction_plan": "左侧瓶子已经位于左侧桌面上，所以拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧的任务完成了",
+            "annotations": {
+                "point_1768787745047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787745047_1768785342820_4ol51whna",
+                            "x": 0.7721110368584572,
+                            "y": 0.609456787109375
+                        }
+                    ]
+                },
+                "point_1768787744855": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768787744855_1768785345804_nnks3vsqt",
+                            "x": 0.43711105730523325,
+                            "y": 0.5792345648871527
+                        }
+                    ]
+                },
+                "bbox_1768787744087": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768787744087_1768785351292_yebcz99ke",
+                            "x": 0.4541110562676357,
+                            "y": -0.0003209906684027778,
+                            "width": 0.38799997631836086,
+                            "height": 0.8231111111111112
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1768787743807",
+            "name": "右侧瓶子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1768787744087",
+            "name": "左侧瓶子",
+            "color": "#FF9800"
+        },
+        {
+            "id": "bbox_1768787775533",
+            "name": "右侧桌面",
+            "color": "#2196F3"
+        },
+        {
+            "id": "bbox_1768787776158",
+            "name": "左侧桌面",
+            "color": "#9C27B0"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1768787744855",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1768787745047",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009912.json

@@ -0,0 +1,540 @@
+{
+    "task_description": "抓起黄辣椒使其放在桌子上:\n开始移动:0%\n爪夹靠近黄辣椒:20%\n爪夹抓取黄辣椒:40%\n爪夹抓住黄辣椒接近桌子:60%\n爪夹抓住黄辣椒在桌子上:80%\n爪夹松开，将黄辣椒放在桌子上:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，准备开始移动。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.0657777777777778,
+                            "id": "bbox_1768789417041_1768789483001_et2hxorwk",
+                            "width": 0.03800000231933609,
+                            "x": 0.46281820451771266,
+                            "y": 0.4177323404947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5173333333333333,
+                            "id": "bbox_1768789417385_1768789491889_xpf2g8p5l",
+                            "width": 0.44800002734375166,
+                            "x": 0.26381819237171583,
+                            "y": 0.34128789605034726
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435057": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435057_1768789476441_c6gzurxwv",
+                            "x": 0.3578181981090208,
+                            "y": 0.13328789605034722
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789466425_l1unumv65",
+                            "x": 0.4198182018932008,
+                            "y": 0.10484345160590278
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，到达黄辣椒正上方后下降，抓取黄辣椒后上升，向爪夹方向的右后方移动，直至处于桌子正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 60,
+            "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，没有触碰黄辣椒。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，准备抓取黄辣椒。",
+            "time": 2.013121280305778
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方略微移动并下降。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.06400000000000006,
+                            "id": "bbox_1768789417041_1768789528417_d9ufd9pq6",
+                            "width": 0.03900000238037125,
+                            "x": 0.46281820451771266,
+                            "y": 0.4195101182725694
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5244444444444445,
+                            "id": "bbox_1768789417385_1768789504977_kzjztylub",
+                            "width": 0.43700002667236487,
+                            "x": 0.2668181925548213,
+                            "y": 0.3395101182725695
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435057": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435057_1768789515145_xjr5ivne0",
+                            "x": 0.42281820207630627,
+                            "y": 0.3039545627170139
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789518745_r70ae14fr",
+                            "x": 0.4668182047618533,
+                            "y": 0.33773234049479167
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，直至黄辣椒的正上方，后下降，抓取黄辣椒后上升，向爪夹方向的右后方移动，直至处于桌子正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方略微移动，在水平方向上略微接近黄辣椒。",
+            "frame": 85,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近黄辣椒，因此进度提升为10%。",
+            "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，爪夹在水平方向上略微接近黄辣椒。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，直至黄辣椒的正上方。",
+            "time": 2.819178082191781
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动并下降。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.06400000000000006,
+                            "id": "bbox_1768789417041_1768789553001_cg0y7qlsq",
+                            "width": 0.03900000238037125,
+                            "x": 0.46181820445667754,
+                            "y": 0.4195101182725694
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5297777777777778,
+                            "id": "bbox_1768789417385_1768789564626_plt5tv1lb",
+                            "width": 0.4450000271606462,
+                            "x": 0.26481819243275095,
+                            "y": 0.3359545627170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435057": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435057_1768789546977_3lrnem9os",
+                            "x": 0.4438182033580446,
+                            "y": 0.3875101182725695
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789543409_v79dcqfp0",
+                            "x": 0.47681820537220493,
+                            "y": 0.4141767849392361
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的前方移动，直至黄辣椒的正上方，后下降，抓取黄辣椒后上升，向爪夹方向的右后方移动，直至处于桌子正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近黄辣椒。",
+            "frame": 98,
+            "progress": 15,
+            "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近黄辣椒，因此进度提升为15%。",
+            "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，爪夹在水平方向上接近黄辣椒。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹向爪夹方向的前方移动，直至黄辣椒的正上方。",
+            "time": 3.267945205479452
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动并下降。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.0657777777777778,
+                            "id": "bbox_1768789417041_1768789584185_t3coowqze",
+                            "width": 0.041000002502441554,
+                            "x": 0.46181820445667754,
+                            "y": 0.41595456271701386
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5208888888888888,
+                            "id": "bbox_1768789417385_1768789572657_rn9m8rzzx",
+                            "width": 0.4400000268554704,
+                            "x": 0.26281819231068065,
+                            "y": 0.33773234049479167
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435057": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435057_1768789590921_xx2uggw02",
+                            "x": 0.4668182047618533,
+                            "y": 0.4266212293836805
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789587433_w3mdshh36",
+                            "x": 0.5038182070201542,
+                            "y": 0.43728789605034724
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹竖直下降，抓取黄辣椒后上升，向爪夹方向的右后方移动，直至处于桌子正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动至黄辣椒的正上方，爪夹垂直于桌面，方便机取黄辣椒。",
+            "frame": 61,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于黄辣椒的正上方，已接近黄辣椒，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，处于黄辣椒的正上方。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹竖直下降，抓取黄辣椒后上升，向爪夹方向的右后方移动，直至处于桌子正上方。",
+            "time": 4.066666666666666
+        },
+        {
+            "action_description": "爪夹略微下降，后合拢抓取黄辣椒。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.07111111111111118,
+                            "id": "bbox_1768789417041_1768789612265_s2bppg540",
+                            "width": 0.04500000274658218,
+                            "x": 0.4688182048839236,
+                            "y": 0.41239900716145833
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.4853333333333334,
+                            "id": "bbox_1768789417385_1768789623937_e2rvre6e1",
+                            "width": 0.44900002740478684,
+                            "x": 0.26381819237171583,
+                            "y": 0.37862122938368054
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789601033_ctk2xlnwj",
+                            "x": 0.5068182072032597,
+                            "y": 0.4479545627170139
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抓住黄辣椒上升，向爪夹方向的右后方移动，直至桌子的正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹在黄辣椒的正上方竖直下降，成功抓取到黄辣椒。",
+            "frame": 73,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到黄辣椒，因此进度提升至40%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，黄辣椒已被抓取。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹抓住黄辣椒上升，向爪夹方向的右后方移动，直至桌子的正上方。",
+            "time": 4.866666666666666
+        },
+        {
+            "action_description": "爪夹抓住黄辣椒上升，向爪夹方向的后方略微移动。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.07999999999999999,
+                            "id": "bbox_1768789417041_1768789651633_77ordafxb",
+                            "width": 0.053000003234863514,
+                            "x": 0.4848182058604862,
+                            "y": 0.3501767849392361
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.4906666666666667,
+                            "id": "bbox_1768789417385_1768789633577_yymv1xpg5",
+                            "width": 0.44100002691650547,
+                            "x": 0.26881819267689167,
+                            "y": 0.3679545627170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789640009_602xlesl5",
+                            "x": 0.5328182087901738,
+                            "y": 0.38573234049479166
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抓住黄辣椒向爪夹方向的右后方移动，直至桌子的正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹抓住黄辣椒上升，向爪夹方向的后方略微移动，在水平方向上略微接近桌子。",
+            "frame": 166,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住黄辣椒，并在水平方向上略微接近桌子，因此进度提升为50%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄辣椒在水平方向上略微接近桌子。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹抓住黄辣椒向爪夹方向的右后方移动，直至桌子的正上方。",
+            "time": 5.519119015669773
+        },
+        {
+            "action_description": "爪夹抓住黄辣椒向爪夹方向的右后方移动。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.09244444444444445,
+                            "id": "bbox_1768789417041_1768789660265_d1at8rz1s",
+                            "width": 0.061000003723144756,
+                            "x": 0.42681820232044687,
+                            "y": 0.3839545627170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5084444444444445,
+                            "id": "bbox_1768789417385_1768789671217_36qf7g5uv",
+                            "width": 0.44400002709961106,
+                            "x": 0.2628181923106806,
+                            "y": 0.35195456271701386
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789663113_7maies3cw",
+                            "x": 0.4798182055553104,
+                            "y": 0.43195456271701393
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抓住黄辣椒向爪夹方向的后方移动，直至桌子的正上方。下降将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹抓住黄辣椒向爪夹方向的右后方移动，在水平方向上接近桌子。",
+            "frame": 181,
+            "progress": 60,
+            "progress_explanation": "较上一阶段相比，爪夹抓住黄辣椒在水平方向上接近桌子，因此进度提升为60%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄辣椒在水平方向上接近桌子。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹抓住黄辣椒向爪夹方向的后方移动，直至桌子的正上方。",
+            "time": 6.028054170803255
+        },
+        {
+            "action_description": "爪夹抓住黄辣椒向爪夹方向的后方移动。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.10666666666666669,
+                            "id": "bbox_1768789417041_1768789701553_a0oxlnpjm",
+                            "width": 0.0680000041503909,
+                            "x": 0.37781819932972405,
+                            "y": 0.4728434516059028
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.5102222222222222,
+                            "id": "bbox_1768789417385_1768789686281_ybw2pb6cz",
+                            "width": 0.4390000267944353,
+                            "x": 0.26381819237171583,
+                            "y": 0.3555101182725694
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789695953_egmdwsuka",
+                            "x": 0.43681820293079854,
+                            "y": 0.5297323404947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，将黄辣椒放在桌子上，爪夹张开。",
+            "error_success_analysis": "爪夹抓住黄辣椒向爪夹方向的后方移动至桌子的正上方。",
+            "frame": 203,
+            "progress": 70,
+            "progress_explanation": "当前爪夹抓住黄辣椒位于桌子的正上方，因此进度提升至70%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄辣椒位于桌子的正上方。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹下降，将黄辣椒放在桌子上。",
+            "time": 6.7536
+        },
+        {
+            "action_description": "爪夹下降，将黄辣椒放在桌子上。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.08533333333333333,
+                            "id": "bbox_1768789417041_1768789713721_3o4idm1js",
+                            "width": 0.06400000390625019,
+                            "x": 0.3928182002452515,
+                            "y": 0.5457323404947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.512,
+                            "id": "bbox_1768789417385_1768789737641_iea27plxy",
+                            "width": 0.44800002734375166,
+                            "x": 0.2638181923717159,
+                            "y": 0.3537323404947917
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789730633_6g6mvmro3",
+                            "x": 0.4468182035411501,
+                            "y": 0.5866212293836806
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，将黄辣椒放在桌子上。",
+            "error_success_analysis": "爪夹下降，将黄辣椒放在桌子上。",
+            "frame": 112,
+            "progress": 80,
+            "progress_explanation": "当前爪夹抓住黄辣椒在桌子上，因此进度提升为80%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄辣椒在桌子上。\n为完成抓起黄辣椒使其放在桌子上的任务应当:爪夹张开，将黄辣椒放在桌子上。",
+            "time": 7.466666666666667
+        },
+        {
+            "action_description": "爪夹张开，将黄辣椒放在桌子上。",
+            "annotations": {
+                "bbox_1768789417041": {
+                    "instances": [
+                        {
+                            "height": 0.09422222222222226,
+                            "id": "bbox_1768789417041_1768789768177_jscwelln5",
+                            "width": 0.058000003540039334,
+                            "x": 0.4008182007335327,
+                            "y": 0.5439545627170139
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1768789417385": {
+                    "instances": [
+                        {
+                            "height": 0.49777777777777793,
+                            "id": "bbox_1768789417385_1768789760409_nv8vsgmzb",
+                            "width": 0.44900002740478684,
+                            "x": 0.26381819237171583,
+                            "y": 0.3643990071614583
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1768789435057": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435057_1768789780457_ufm2n0jpi",
+                            "x": 0.45381820396839617,
+                            "y": 0.5048434516059027
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1768789435249": {
+                    "instances": [
+                        {
+                            "id": "point_1768789435249_1768789778041_kuqqiqfrl",
+                            "x": 0.4868182059825565,
+                            "y": 0.5723990071614584
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，黄辣椒已被放在桌子上。",
+            "frame": 240,
+            "progress": 100,
+            "progress_explanation": "当前爪夹张开，将黄辣椒放在桌子上，因此进度提升至100%��",
+            "state_description": "当前状态为爪夹张开，黄辣椒已被放在桌子上。\n已完成抓起黄辣椒使其放在桌子上的任务。",
+            "time": 8.007246440766801
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1768789417041",
+            "name": "黄辣椒"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1768789417385",
+            "name": "桌子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1768789435057",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1768789435249",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009949.json

@@ -0,0 +1,576 @@
+{
+    "task_description": "抓起右侧储物箱中的遥控器使其放在左侧储物箱中:\n开始移动:0%\n爪夹靠近右侧储物箱中的遥控器:20%\n爪夹抓取右侧储物箱中的遥控器:40%\n爪夹抓住右侧储物箱中的遥控器接近左侧储物箱:60%\n爪夹抓住右侧储物箱中的遥控器在左侧储物箱正上方:80%\n爪夹松开，将右侧储物箱中的遥控器放在左侧储物箱中: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，到达右侧储物箱中的遥控器正上方后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "",
+            "frame": 0,
+            "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，没有触碰右侧储物箱中的遥控器。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹向爪夹方向的前方移动，准备抓取右侧储物箱中的遥控器。",
+            "time": 0,
+            "annotations": {
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793079094_i4g4277fs",
+                            "x": 0.7831999816894532,
+                            "y": 0.37084444173177084
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793081613_z4iqwtt8q",
+                            "x": 0.8131999816894531,
+                            "y": 0.37582222493489587
+                        }
+                    ]
+                },
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793089846_rt9f4bsq3",
+                            "x": 0.34519998168945315,
+                            "y": 0.4380444471571181,
+                            "width": 0.5599999999999999,
+                            "height": 0.5617777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方略微移动，调整爪夹角度，使其垂直于地面。",
+            "correction_plan": "爪夹向爪夹方向的前方移动，到达右侧储物箱中的遥控器正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹向爪夹方向的前方略微移动，在水平方向上成功略微接近右侧储物箱中的遥控器，并使爪夹垂直于地面，方便抓取。",
+            "frame": 26,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近右侧储物箱中的遥控器，并开始调整夹角度方便抓取，因此进度提升为10%。",
+            "state_description": "当前状态为爪夹张开，垂直于地面，爪夹在水平方向上略微接近右侧储物箱中的遥控器。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹向爪夹方向的前方移动，到达右侧储物箱中的遥控器正上方。",
+            "time": 1.7333333333333334,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793100734_o4v1cx96r",
+                            "x": 0.34519998168945315,
+                            "y": 0.4383999972873264,
+                            "width": 0.5599999999999999,
+                            "height": 0.5599999999999999
+                        }
+                    ]
+                },
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793110838_p94auxhiy",
+                            "x": 0.7141999816894532,
+                            "y": 0.5056000027126737
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793113301_v88yau54k",
+                            "x": 0.7331999816894531,
+                            "y": 0.48071111382378473
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方略微移动并下降。",
+            "correction_plan": "爪夹向爪夹方向的前方移动，到达右侧储物箱中的遥控器正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹向爪夹方向的前方略微移动，在水平方向上接近右侧储物箱中的遥控器。",
+            "frame": 90,
+            "progress": 15,
+            "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近右侧储物箱中的遥控器，因此进度提升为15%。",
+            "state_description": "当前状态为爪夹张开，垂直于地面，爪夹在水平方向上接近右侧储物箱中的遥控器。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹向爪夹方向的前方移动，到达右侧储物箱中的遥控器正上方。",
+            "time": 3.0052044609665427,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793124446_tyjuajr08",
+                            "x": 0.3441999816894531,
+                            "y": 0.43271111382378474,
+                            "width": 0.5599999999999999,
+                            "height": 0.5617777777777778
+                        }
+                    ]
+                },
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793133365_47abk36vy",
+                            "x": 0.6621999816894532,
+                            "y": 0.5376000027126736
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793135990_mr4x8jwvc",
+                            "x": 0.6821999816894532,
+                            "y": 0.5411555582682291
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动并下降。",
+            "correction_plan": "爪夹下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动至右侧储物箱中的遥控器的正上方。",
+            "frame": 131,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于右侧储物箱中的遥控器的正上方，已接近右侧储物箱中的遥控器，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，爪夹处于右侧储物箱中的遥控器的正上方。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。",
+            "time": 4.368029739776952,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793144118_rfrijj33o",
+                            "x": 0.3481999816894531,
+                            "y": 0.43982222493489587,
+                            "width": 0.558,
+                            "height": 0.5582222222222222
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢并略微抬升，进行空抓。",
+            "correction_plan": "爪夹张开并竖直抬起，爪夹竖直下降。重新抓取右侧储物箱中的遥控器，后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹没有下降，垂直于右侧储物箱中的遥控器的正上方己经进行空抓动作。",
+            "frame": 180,
+            "progress": -20,
+            "progress_explanation": "爪夹需要多一次张开爪夹的动作才能接近右侧储物箱中的遥控器，因此进度下降为-20%。",
+            "state_description": "当前状态为爪夹合拢，垂直于右侧储物箱中的遥控器的正上方己经进行空抓动作。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹张开并竖直抬起，爪夹竖直下降。重新抓取右侧储物箱中的遥控器。",
+            "time": 6.010408921933085,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793150518_874j29npv",
+                            "x": 0.3451999816894531,
+                            "y": 0.44160000271267363,
+                            "width": 0.5609999999999999,
+                            "height": 0.5582222222222223
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，后爪夹下降。",
+            "correction_plan": "爪夹抬升，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降，没有触碰到目标物品右侧储物箱中的遥控器。",
+            "frame": 231,
+            "progress": -10,
+            "progress_explanation": "爪夹虽然在错误地点下降，但爪夹由合拢到张开，因此进度略微提升至-10%。",
+            "state_description": "当前状态为爪夹张开，爪夹爪夹下降，左右两侧爪夹触碰储物箱中的物品。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹抬升，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方。",
+            "time": 7.698308923465689,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793170206_ewf77sq64",
+                            "x": 0.34519998168945315,
+                            "y": 0.44906666395399314,
+                            "width": 0.5609999999999999,
+                            "height": 0.5493333333333332
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹合拢，并抬升。",
+            "correction_plan": "爪夹张开并抬起，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。",
+            "frame": 277,
+            "progress": -20,
+            "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近右侧储物箱中的遥控器，因此进度下降为-20%。",
+            "state_description": "当前状态为爪夹合拢，爪夹己经进行空抓动作。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹张开并抬起，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方。",
+            "time": 9.225278810408923,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793182782_5z8r4driy",
+                            "x": 0.34719998168945315,
+                            "y": 0.4419555528428819,
+                            "width": 0.558,
+                            "height": 0.5546666666666666
+                        }
+                    ]
+                },
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793191366_njmkdmg7s",
+                            "x": 0.6401999816894531,
+                            "y": 0.5038222249348958
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793194733_hrhyyq1ym",
+                            "x": 0.6481999816894531,
+                            "y": 0.5002666693793403
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，并下降，爪夹向爪夹方向的前方略微移动。",
+            "correction_plan": "爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹张开，并下降，爪夹向爪夹方向的前方略微移动，在水平方向上接近右侧储物箱中的遥控器。",
+            "frame": 309,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上接近右侧储物箱中的遥控器，因此进度提升为15%。",
+            "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近右侧储物箱中的遥控器。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方。",
+            "time": 10.308550185873607,
+            "annotations": {
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793198533_kbjfkiu8f",
+                            "x": 0.6581999816894532,
+                            "y": 0.5251555582682291
+                        }
+                    ]
+                },
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793226693_5194i4o57",
+                            "x": 0.34319998168945315,
+                            "y": 0.4487111138237847,
+                            "width": 0.5619999999999999,
+                            "height": 0.5457777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降。",
+            "correction_plan": "爪夹抬升，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹在错误地点下降，没有触碰到目标物品右侧储物箱中的遥控器。",
+            "frame": 355,
+            "progress": -10,
+            "progress_explanation": "爪夹在错误地点下降，因此进度降低到-10%。",
+            "state_description": "当前状态为爪夹张开，爪夹下降，左右两侧爪夹触碰储物箱中的物品。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹抬升，爪夹向爪夹方向的前方移动，直至右侧储物箱中的遥控器的正上方。",
+            "time": 11.820821917808221,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793236918_h7hsaeptg",
+                            "x": 0.34519998168945315,
+                            "y": 0.4383999972873264,
+                            "width": 0.5599999999999999,
+                            "height": 0.5564444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升，向爪夹方向的后方略微移动。",
+            "correction_plan": "爪夹向爪夹方向的前方移动，到达右侧储物箱中的遥控器正上方，后下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。\n",
+            "error_success_analysis": "爪夹抬升，向爪夹方向的后方略微移动，在水平方向上接近右侧储物箱中的遥控器。",
+            "frame": 406,
+            "progress": 15,
+            "progress_explanation": "爪夹在水平方向上接近右侧储物箱中的遥控器，因此进度提升为15%。",
+            "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近右侧储物箱中的遥控器。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹向��夹方向的前方移动，直至右侧储物箱中的遥控器的正上方。",
+            "time": 13.523420074349444,
+            "annotations": {
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793246797_nf1ip4mlo",
+                            "x": 0.6291999816894531,
+                            "y": 0.5077333306206597
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793248942_1m2guk708",
+                            "x": 0.6531999816894531,
+                            "y": 0.4913777804904514
+                        }
+                    ]
+                },
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793257021_ailkl8gqj",
+                            "x": 0.3441999816894531,
+                            "y": 0.43982222493489587,
+                            "width": 0.5619999999999999,
+                            "height": 0.5564444444444444
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动并下降。",
+            "correction_plan": "爪夹下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动至右侧储物箱中的遥控器的正上方。",
+            "frame": 457,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于右侧储物箱中的遥控器的正上方，已接近右侧储物箱中的遥控器，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，爪夹处于右侧储物箱中的遥控器的正上方。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹下降，抓取右侧储物箱中的遥控器后上升，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。",
+            "time": 15.23568773234201,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793267910_dtiw2o3gf",
+                            "x": 0.34519998168945315,
+                            "y": 0.43128888617621536,
+                            "width": 0.5599999999999999,
+                            "height": 0.567111111111111
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微下降，后合拢抓取右侧储物箱中的遥控器。",
+            "correction_plan": "爪夹抓住右侧储物箱中的遥控器上升，然后向爪夹方向的左后方移动，直至处于左侧储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "error_success_analysis": "爪夹在右侧储物箱中的遥控器的正上方下降，成功抓取到右侧储物箱中的遥控器。",
+            "frame": 251,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到右侧储物箱中的遥控器，因此进度提升至40%。",
+            "state_description": "当前状态为爪夹合拢，右侧储物箱中的遥控器已被爪夹抓取。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹抓住右侧储物箱中的遥控器上升，然后向爪夹方向的左后方移动，直至处于左侧储物箱正上方。",
+            "time": 16.733333333333334,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793286806_90pk4aya5",
+                            "x": 0.3451999816894531,
+                            "y": 0.441955552842882,
+                            "width": 0.5599999999999999,
+                            "height": 0.5564444444444443
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住右侧储物箱中的遥控器上升，然后向爪夹方向的左后方移动。",
+            "correction_plan": "爪夹抓住右侧储物箱中的遥控器，向爪夹方向的左后方移动，直至处于左��储物箱正上方。下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "error_success_analysis": "爪夹抓住右侧储物箱中的遥控器上升，然后向爪夹方向的左后方移动，在水平方向上接近左侧储物箱。",
+            "frame": 263,
+            "progress": 60,
+            "progress_explanation": "当前爪夹抓住右侧储物箱中的遥控器，在水平方向上接近左侧储物箱，因此进度提升为60%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住右侧储物箱中的遥控器，在水平方向上接近左侧储物箱。   \n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:爪夹抓住右侧储物箱中的遥控器，向爪夹方向的左后方移动，直至处于左侧储物箱正上方。",
+            "time": 17.533333333333335,
+            "annotations": {
+                "bbox_1768789972001": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972001_1768793308949_w6fagh0j8",
+                            "x": 0.5681999816894531,
+                            "y": 0.3331555582682292,
+                            "width": 0.10900000000000007,
+                            "height": 0.09955555555555556
+                        }
+                    ]
+                },
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793311237_nhw1gq008",
+                            "x": 0.6331999816894531,
+                            "y": 0.4131555582682292
+                        }
+                    ]
+                },
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793317950_w0ypugmez",
+                            "x": 0.3441999816894531,
+                            "y": 0.4380444471571181,
+                            "width": 0.5599999999999999,
+                            "height": 0.5617777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住右侧储物箱中的遥控器，向爪夹方向的左后方移动。",
+            "correction_plan": "下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "error_success_analysis": "爪夹抓住右侧储物箱中的遥控器，向爪夹方向的左后方移动至左侧储物箱的正上方。",
+            "frame": 550,
+            "progress": 80,
+            "progress_explanation": "当前爪夹抓住右侧储物箱中的遥控器位于左侧储物箱的正上方，因此进度提升为80%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住右侧储物箱中的遥控器位于左侧储物箱的正上方。\n为完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务应当:下降将右侧储物箱中的遥控器放在左侧储物箱中，爪夹张开。",
+            "time": 18.31933985130074,
+            "annotations": {
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793332325_g05304rpb",
+                            "x": 0.3461999816894531,
+                            "y": 0.4383999972873264,
+                            "width": 0.5599999999999999,
+                            "height": 0.5599999999999999
+                        }
+                    ]
+                },
+                "bbox_1768789972001": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972001_1768793346005_gjfb4q14i",
+                            "x": 0.5651999816894532,
+                            "y": 0.45937778049045136,
+                            "width": 0.16499999999999995,
+                            "height": 0.06755555555555562
+                        }
+                    ]
+                },
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793348413_sqof6b0k8",
+                            "x": 0.6691999816894532,
+                            "y": 0.5287111138237848
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，右侧储物箱中的遥控器掉落在左侧储物箱中。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，右侧储物箱中的遥控器已在左侧储物箱中。",
+            "frame": 281,
+            "progress": 100,
+            "progress_explanation": "当前爪夹张开，右侧储物箱中的遥控器掉落在左侧储物箱中，因此进度提升至100%。",
+            "state_description": "当前状态为爪夹张开，右侧储物箱中的遥控器已在左侧储物箱中。\n已完成抓起右侧储物箱中的遥控器使其放在左侧储物箱中的任务。",
+            "time": 18.733333333333334,
+            "annotations": {
+                "point_1768789982561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982561_1768793351885_5nf5ep6xq",
+                            "x": 0.6771999816894532,
+                            "y": 0.5678222249348959
+                        }
+                    ]
+                },
+                "point_1768789982816": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768789982816_1768793354109_nizvbkn2c",
+                            "x": 0.6641999816894532,
+                            "y": 0.5802666693793402
+                        }
+                    ]
+                },
+                "bbox_1768789972001": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972001_1768793360053_tgo5abjch",
+                            "x": 0.5501999816894532,
+                            "y": 0.5944888916015625,
+                            "width": 0.14699999999999996,
+                            "height": 0.10844444444444443
+                        }
+                    ]
+                },
+                "bbox_1768789972241": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768789972241_1768793368293_hapin3z3e",
+                            "x": 0.34519998168945315,
+                            "y": 0.43982222493489587,
+                            "width": 0.5609999999999999,
+                            "height": 0.5564444444444444
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1768789972001",
+            "name": "右侧储物箱中的遥控器"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1768789972241",
+            "name": "左侧储物箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1768789982561",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1768789982816",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009119.json

@@ -0,0 +1,418 @@
+{
+    "task_description": "抓取玩具放入杯子里：\n准备开始移动：0%\n爪夹靠近玩具：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近杯子：60%\n爪夹将玩具放入杯子：80%\n爪夹松开玩具落入杯子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开状态，未开始移动。",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.07644444444444455,
+                            "id": "bbox_1767147080924_1767147554979_n3hiw0cq0",
+                            "width": 0.050999999999999976,
+                            "x": 0.495,
+                            "y": 0.7413333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767147592835_695r2ekgd",
+                            "x": 0.461,
+                            "y": 0.6364444444444445
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767147568779_xt7hnyjke",
+                            "x": 0.768,
+                            "y": 0.6542222222222223
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。接着落下爪夹靠近玩具，接近玩具后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "",
+            "frame": 25,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离玩具，未开始移动。\n为完成抓取玩具落入杯里的任务应当：爪夹向爪夹方向的后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。",
+            "time": 0.834933
+        },
+        {
+            "action_description": "爪夹向爪夹方向的后方移动下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.14933333333333332,
+                            "id": "bbox_1767147080924_1767152287078_foqw6086f",
+                            "width": 0.06899999999999995,
+                            "x": 0.5559999999999999,
+                            "y": 0.3608888888888889
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767147086715": {
+                    "instances": [
+                        {
+                            "height": 0.24177777777777779,
+                            "id": "bbox_1767147086715_1767152296318_bhfu4ykqh",
+                            "width": 0.15799999999999997,
+                            "x": 0.134,
+                            "y": 0.32711111111111113
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152299270_6x2lhjxnu",
+                            "x": 0.462,
+                            "y": 0.64
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152301910_tp64kriy7",
+                            "x": 0.771,
+                            "y": 0.6542222222222223
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右前方微调，爪夹移动到玩具的正上方。接着落下爪夹靠近玩具，接近玩具后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，水平上接近了玩具，方便抓取。",
+            "frame": 73,
+            "progress": 5,
+            "progress_explanation": "爪夹向爪夹方向的后方移动下降，爪夹角度垂直于桌面，方便抓取。因此进度提升为5%",
+            "state_description": "爪夹张开垂直于桌面，爪夹远离玩具。\n为完成抓取玩具落入杯里的任务应当：爪夹向爪夹方向的右前方微调，直至玩具的正上方。",
+            "time": 2.437466
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方微调并下降",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.28444444444444444,
+                            "id": "bbox_1767147080924_1767152321918_tam1zivm3",
+                            "width": 0.10400000000000001,
+                            "x": 0.499,
+                            "y": 0.28622222222222227
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152317030_p20f9snxm",
+                            "x": 0.46399999999999997,
+                            "y": 0.64
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152307790_2x0qaxvao",
+                            "x": 0.768,
+                            "y": 0.6488888888888888
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的右前方移动下降，直至玩具的正上方。接着落下爪夹靠近玩具，接近玩具后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "爪夹角度与桌面垂直，缩短了玩具的距离，方便后续抓取玩具。",
+            "frame": 124,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面垂直，水平上接近了玩具，更加方便抓取。因此进度提升为 15%。",
+            "state_description": "爪夹张开，角度垂直于桌面，水平上接近了玩具。\n为完成抓取玩具落入杯里的任务应当：爪夹继续向爪夹方向的右前方移动下降，直至玩具的正上方。",
+            "time": 4.123299071134021
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右侧微调并垂直下降。",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.47822222222222227,
+                            "id": "bbox_1767147080924_1767152336622_mqzqn36wz",
+                            "width": 0.27199999999999996,
+                            "x": 0.42000000000000004,
+                            "y": 0.3431111111111111
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152329567_vr1pj038o",
+                            "x": 0.45600000000000007,
+                            "y": 0.6488888888888888
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152332718_8ci5gpaav",
+                            "x": 0.771,
+                            "y": 0.6435555555555555
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，处于玩具的正上方，方便抓取",
+            "frame": 187,
+            "progress": 20,
+            "progress_explanation": "爪夹角度垂直于桌面，处于玩具的正上方。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度垂直于桌面，处于玩具的正上方，准备抓取玩具。\n为完成抓取玩具落入杯里的任务应当：爪夹合拢抓取玩具，抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动。",
+            "time": 6.219656511340205
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.5493333333333333,
+                            "id": "bbox_1767147080924_1767152343350_jbrvukcph",
+                            "width": 0.23200000000000004,
+                            "x": 0.47400000000000003,
+                            "y": 0.25066666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152348222_sqi2xui5z",
+                            "x": 0.49800000000000005,
+                            "y": 0.615111111111111
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152351446_wpmtpsyhq",
+                            "x": 0.688,
+                            "y": 0.6186666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧玩具垂直升高爪夹并向爪夹左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到玩具。",
+            "frame": 204,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到玩具，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到玩具，爪夹角度与桌面接近垂直。\n为完成抓取玩具落入杯里的任务应当：抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方",
+            "time": 6.78886614742268
+        },
+        {
+            "action_description": "爪夹夹紧玩具垂直升高，离开桌面向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.4622222222222223,
+                            "id": "bbox_1767147080924_1767152370046_mv1kokkt6",
+                            "width": 0.21099999999999994,
+                            "x": 0.504,
+                            "y": 0.3217777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152363782_9pp9hpel3",
+                            "x": 0.534,
+                            "y": 0.6293333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152366238_y70qx8cc0",
+                            "x": 0.6910000000000001,
+                            "y": 0.6204444444444445
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "爪夹合拢继续夹紧玩具，水平上接近了杯子。更加方便接近杯子。",
+            "frame": 238,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧玩具，垂直升高并向爪夹方向的左侧移动，缩短了与杯子的距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧玩具，水平上接近了杯子。\n为完成抓取玩具落入杯里的任务应当：继续向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "time": 7.931866
+        },
+        {
+            "action_description": "爪夹夹紧玩具，向爪夹方向的左侧移动",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.4782222222222222,
+                            "id": "bbox_1767147080924_1767152386254_t3k9rz9a4",
+                            "width": 0.20200000000000004,
+                            "x": 0.508,
+                            "y": 0.3217777777777778
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767147086715": {
+                    "instances": [
+                        {
+                            "height": 0.47822222222222216,
+                            "id": "bbox_1767147086715_1767152391086_h2vym5ldo",
+                            "width": 0.271,
+                            "x": 0.45600000000000007,
+                            "y": 0.24177777777777779
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152395846_j5oi6bj96",
+                            "x": 0.532,
+                            "y": 0.6008888888888889
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152398750_2vt9ixgau",
+                            "x": 0.692,
+                            "y": 0.6222222222222222
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "error_success_analysis": "到了爪夹方向左侧杯子的正上方，方便将玩具放入杯子。",
+            "frame": 297,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧玩具，到了爪夹方向左侧杯子的正上方，方便将玩具放入杯子。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面，位于杯子的正上方。\n为完成抓取玩具落入杯里的任务应当：将玩具放入杯子，松开爪夹，使玩具落入杯子。",
+            "time": 9.898
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1767147080924": {
+                    "instances": [
+                        {
+                            "height": 0.22400000000000003,
+                            "id": "bbox_1767147080924_1767152407126_qs0dy629b",
+                            "width": 0.12500000000000008,
+                            "x": 0.49899999999999994,
+                            "y": 0.3662222222222222
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1767147086715": {
+                    "instances": [
+                        {
+                            "height": 0.49066666666666664,
+                            "id": "bbox_1767147086715_1767152417383_gj6jroiep",
+                            "width": 0.25599999999999995,
+                            "x": 0.44800000000000006,
+                            "y": 0.2222222222222222
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1767147091611": {
+                    "instances": [
+                        {
+                            "id": "point_1767147091611_1767152425142_6g3c1avqz",
+                            "x": 0.501,
+                            "y": 0.632888888888889
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1767147098187": {
+                    "instances": [
+                        {
+                            "id": "point_1767147098187_1767152428694_h3katajl3",
+                            "x": 0.725,
+                            "y": 0.6346666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，玩具落入杯子",
+            "frame": 310,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，玩具落入杯子，任务完成。因此进度提升为 100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开玩具落入杯子里的任务目标完成。",
+            "time": 10.342955582474227
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1767147080924",
+            "name": "玩具"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1767147086715",
+            "name": "杯子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1767147091611",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1767147098187",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json

@@ -0,0 +1,732 @@
+{
+    "task_description": "抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉:\n开始移动:0%\n爪夹靠近黄色盖子的白色瓶子:20%\n爪夹抓取黄色盖子的白色瓶子:40%\n爪夹抓住黄色盖子的白色瓶子接近打开的抽屉:60%\n爪夹松开，将黄色盖子的白色瓶子放在打开的抽屉里:80%\n爪夹关上抽屉:100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，准备开始移动。",
+            "correction_plan": "爪夹向爪夹方向的左后方移动，到达黄色盖子的白色瓶子正上方，后下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "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，没有触碰黄色盖子的白色瓶子。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的左后方移动，准备抓取黄色盖子的白色瓶子。",
+            "time": 0.41722846067415736,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807458945_el31jozmm",
+                            "x": 0.4415,
+                            "y": 0.5991111111111111
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807460889_15sp3u8n7",
+                            "x": 0.7725000000000001,
+                            "y": 0.5937777777777777
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右侧调整，向爪夹方向的左后方移动。",
+            "correction_plan": "爪夹向爪夹方向的左后方移动，直至黄色盖子的白色瓶子正上方，后下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹向爪夹方向的右侧调整，向爪夹方向的左后方移动，在水平方向上接近黄色盖子的白色瓶子。",
+            "frame": 63,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上接近黄色盖子的白色瓶子，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黄色盖子的白色瓶子。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的左后方移动，直至黄色盖子的白色瓶子正上方。",
+            "time": 4.2,
+            "annotations": {
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807466297_8w9hfcj7y",
+                            "x": 0.7765000000000001,
+                            "y": 0.608
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807468401_tb60l5npc",
+                            "x": 0.4405,
+                            "y": 0.6044444444444445
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807473465_c03t6304b",
+                            "x": 0.15050000000000002,
+                            "y": 0.5155555555555555,
+                            "width": 0.089,
+                            "height": 0.3182222222222223
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807484593_mwk7vl5fg",
+                            "x": 0.0375,
+                            "y": -0.0017777777777777794,
+                            "width": 0.356,
+                            "height": 0.272
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左后方移动并下降，爪夹先向爪夹方向的右侧调整，后向爪夹方向的左侧调整。",
+            "correction_plan": "爪夹向爪夹方向的前方略微移动，直至黄色盖子的白色瓶子正上方，后下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹向爪夹方向的左后方移动，爪夹在水平方向上更接近黄色盖子的白色瓶子。",
+            "frame": 210,
+            "progress": 15,
+            "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近黄色盖子的白色瓶子，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黄色盖子的白色瓶子。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的前方略微移动，直至黄色盖子的白色瓶子正上方。",
+            "time": 6.996797966748768,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807492545_3ijux0vjf",
+                            "x": 0.4445,
+                            "y": 0.6026666666666667
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807494416_weabvr56h",
+                            "x": 0.7685000000000001,
+                            "y": 0.6008888888888889
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807499857_zxctckqvx",
+                            "x": 0.44650000000000006,
+                            "y": 0.03555555555555556,
+                            "width": 0.14499999999999993,
+                            "height": 0.5457777777777777
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动并下降。",
+            "correction_plan": "爪夹竖直下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，爪夹处于黄色盖子的白色瓶子的正上方。",
+            "frame": 288,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于黄色盖子的白色瓶子的正上方，已接近黄色盖子的白色瓶子，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，爪夹处于黄色盖子的白色瓶子的正上方。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹竖直下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。",
+            "time": 9.603448189655174,
+            "annotations": {
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807517512_2ml0nvm9r",
+                            "x": 0.4295,
+                            "y": 0.0017777777777777779,
+                            "width": 0.176,
+                            "height": 0.7377777777777779
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807519753_qm0p18hm0",
+                            "x": 0.4445,
+                            "y": 0.5937777777777777
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807521633_tv6xde2el",
+                            "x": 0.7705,
+                            "y": 0.5955555555555556
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微下降后，合拢抓取。",
+            "correction_plan": "爪夹张开，竖直下降，再次合拢抓取黄色盖子的白色瓶子，后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹略微下降后，合拢抓取，已进行空抓动作。",
+            "frame": 174,
+            "progress": -20,
+            "progress_explanation": "当前爪夹合拢，爪夹已进行空抓，爪夹需要多一次张开爪夹的动作，才能接近黄色盖子的白色瓶子，因此进度下降为-20%。",
+            "state_description": "当前状态为爪夹合拢，爪夹位于黄色盖子的白色瓶子的正上方，进行合拢空抓。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹张开，竖直下降，再次合拢抓取黄色盖子的白色瓶子。",
+            "time": 11.6,
+            "annotations": {
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807524560_kd22k9srl",
+                            "x": 0.6145,
+                            "y": 0.5599999999999999
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807527153_ru48f3lgf",
+                            "x": 0.5915,
+                            "y": 0.5528888888888889
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807534425_k3pes554n",
+                            "x": 0.4545,
+                            "y": 0.0017777777777777779,
+                            "width": 0.195,
+                            "height": 0.5493333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开，向爪夹方向的前方移动。",
+            "correction_plan": "爪夹竖直下降，合拢抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉的正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹张开，向爪夹方向的前方移动，爪夹位于黄色盖子的白色瓶子的正上方。",
+            "frame": 197,
+            "progress": 20,
+            "progress_explanation": "当前爪夹再次处于黄色盖子的白色瓶子的正上方，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，爪夹位于黄色盖子的白色瓶子的正上方。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹竖直下降，合拢抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉的正上方。",
+            "time": 13.133333333333333,
+            "annotations": {
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807545137_d6dviwm6f",
+                            "x": 0.5265000000000001,
+                            "y": 0.12088888888888889,
+                            "width": 0.20999999999999996,
+                            "height": 0.8764444444444444
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807553297_07vjvhhnw",
+                            "x": 0.4455,
+                            "y": 0.5955555555555556
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807556089_fv5di8f5z",
+                            "x": 0.7745,
+                            "y": 0.5937777777777777
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹略微下降，后合拢抓取黄色盖子的白色瓶子。",
+            "correction_plan": "爪夹抓住黄色盖子的白色瓶子上升，然后向爪夹方向的前方移动，直至处于打开的抽屉的正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹在黄色盖子的白色瓶子的正上方竖直下降，成功抓取到黄色盖子的白色瓶子 。",
+            "frame": 434,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到黄色盖子的白色瓶子，因此进度提升至40%。",
+            "state_description": "当前状态为爪夹合拢，黄色盖子的白色瓶子已被抓取。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹抓住黄色盖子的白色瓶子上升，然后向爪夹方向的前方移动，直至处于打开的抽屉的正上方。",
+            "time": 14.450902990147787,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807561793_n7twcbgea",
+                            "x": 0.5715,
+                            "y": 0.5582222222222223
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807569897_oe5zc1rgt",
+                            "x": 0.48950000000000005,
+                            "y": 0.09066666666666667,
+                            "width": 0.29100000000000004,
+                            "height": 0.9084444444444445
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住黄色盖子的白色瓶子上升，然后向爪夹方向的前方略微移动。",
+            "correction_plan": "爪夹抓住黄色盖子的白色瓶子，向爪夹方向的前方移动，直至处于打开的抽屉的正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹抓住黄色盖子的白色瓶子上升，然后向爪夹方向的前方略微移动，在水平方向上略微接近打开的抽屉。",
+            "frame": 487,
+            "progress": 45,
+            "progress_explanation": "当前爪夹抓住黄色盖子的白色瓶子在水平方向上略微接近打开的抽屉，因此进度提升至45%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄色盖子的白色瓶子在水平方向上略微接近打开的抽屉。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹抓住黄色盖子的白色瓶子，向爪夹方向的前方移动，直至处于打开的抽屉的正上方。",
+            "time": 16.234400511083745,
+            "annotations": {
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807579529_p4owjsw23",
+                            "x": 0.49050000000000005,
+                            "y": 0.08888888888888889,
+                            "width": 0.29399999999999993,
+                            "height": 0.9084444444444445
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807590185_k28b0fynp",
+                            "x": 0.5755,
+                            "y": 0.5582222222222223
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住黄色盖子的白色瓶子，向爪夹方向的前方移动，爪夹抓住黄色盖子的白色瓶子向爪夹方向的左侧调整并下降。",
+            "correction_plan": "爪夹抓住黄色盖子的白色瓶子向爪夹方向的左侧移动，直至处于打开的抽屉的正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹抓住黄色盖子的白色瓶子，向爪夹方向的前方移动，在水平方向上接近打开的抽屉。",
+            "frame": 564,
+            "progress": 50,
+            "progress_explanation": "较上一阶段相比，爪夹抓住黄色盖子的白色瓶子在水平方向上接近打开的抽屉，因此进度提升为50%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄色盖子的白色瓶子在水平方向上接近打开的抽屉。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹抓住黄色盖子的白色瓶子向爪夹方向的左侧移动，直至处于打开的抽屉的正上方。",
+            "time": 18.795320028325126,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807595792_b1jpexwls",
+                            "x": 0.5805,
+                            "y": 0.5599999999999999
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807606953_zjnpd7qyq",
+                            "x": 0.48650000000000004,
+                            "y": 0.09066666666666667,
+                            "width": 0.293,
+                            "height": 0.9066666666666667
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807620329_hcs6wsbtx",
+                            "x": 0.0025,
+                            "y": 0.16355555555555557,
+                            "width": 0.48999999999999994,
+                            "height": 0.8337777777777778
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住黄色盖子的白色瓶子下降。",
+            "correction_plan": "爪夹抓住黄色盖子的白色瓶子上升，向爪夹方向的左侧移动，直至处于打开的抽屉的正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹抓住黄色盖子的白色瓶子下降，在垂直方向上略微远离了打开的抽屉。",
+            "frame": 315,
+            "progress": 48,
+            "progress_explanation": "当前爪夹抓住黄色盖子的白色瓶子在垂直方向上略微远离了打开的抽屉，，因此进度降低到48%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄色盖子的白色瓶子在垂直方向上略微远离了打开的抽屉。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹抓住黄色盖子的白色瓶子上升，向爪夹方向的左侧移动，直至处于打开的抽屉的正上方。",
+            "time": 21,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807636352_22jbny1ke",
+                            "x": 0.5715,
+                            "y": 0.5617777777777778
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807647472_3jf25lkq0",
+                            "x": 0.4915,
+                            "y": 0.09777777777777778,
+                            "width": 0.292,
+                            "height": 0.9013333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抓住黄色盖���的白色瓶子，向爪夹方向的左侧移动并抬升。",
+            "correction_plan": "下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹抓住黄色盖子的白色瓶子，向爪夹方向的左侧移动并抬升，在打开的抽屉的正上方。",
+            "frame": 713,
+            "progress": 60,
+            "progress_explanation": "当前爪夹抓住黄色盖子的白色瓶子，在打开的抽屉的正上方，因此进度提升为60%。",
+            "state_description": "当前状态为爪夹合拢，爪夹抓住黄色盖子的白色瓶子，在打开的抽屉的正上方。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。",
+            "time": 23.77996694581281,
+            "annotations": {
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807661393_0watlskxh",
+                            "x": 0.4965,
+                            "y": 0.096,
+                            "width": 0.292,
+                            "height": 0.9031111111111111
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807664281_glbmmq20d",
+                            "x": 0.5715,
+                            "y": 0.528
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807674825_s1f1nwaou",
+                            "x": 0.3055,
+                            "y": 0,
+                            "width": 0.591,
+                            "height": 0.9884444444444446
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹张开,黄色盖子的白色瓶子放在打开的抽屉里。",
+            "correction_plan": "爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹张开，黄色盖子的白色瓶子已被放在打开的抽屉里。",
+            "frame": 377,
+            "progress": 80,
+            "progress_explanation": "当前爪夹张开,黄色盖子的白色瓶子放在打开的抽屉里，因此进度提升为80%。",
+            "state_description": "当前状态为爪夹张开，黄色盖子的白色瓶子已被放在打开的抽屉里。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "time": 25.133333333333333,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807683809_u6aeypgkp",
+                            "x": 0.44350000000000006,
+                            "y": 0.5955555555555556
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807685760_anlprzefi",
+                            "x": 0.7765000000000001,
+                            "y": 0.608
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807695488_uqku730vf",
+                            "x": 0.27549999999999997,
+                            "y": 0.005333333333333333,
+                            "width": 0.5840000000000001,
+                            "height": 0.9991111111111112
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807724280_xnncuel42",
+                            "x": 0.42749999999999994,
+                            "y": 0.3697777777777777,
+                            "width": 0.2000000000000001,
+                            "height": 0.5475555555555557
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹下降。",
+            "correction_plan": "爪夹推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹下降,爪夹右触碰到打开的抽屉。",
+            "frame": 787,
+            "progress": 85,
+            "progress_explanation": "当前爪夹右触碰到打开的抽屉，因此进度提升为85%。",
+            "state_description": "当前状态为爪夹张开，爪夹右触碰到打开的抽屉。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "time": 26.24942505172414,
+            "annotations": {
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807712928_t62bkgrdc",
+                            "x": 0.7645000000000001,
+                            "y": 0.7128888888888889
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807715000_1eslsyqxq",
+                            "x": 0.43950000000000006,
+                            "y": 0.5955555555555556
+                        }
+                    ]
+                },
+                "bbox_1768803655058": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655058_1768807738185_2umuypr9d",
+                            "x": 0.3365,
+                            "y": 0.16,
+                            "width": 0.26799999999999996,
+                            "height": 0.7040000000000001
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807751505_rwm142pwg",
+                            "x": 0.1395,
+                            "y": 0,
+                            "width": 0.8020000000000002,
+                            "height": 0.9973333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹推动打开的抽屉向爪夹方向的左侧移动。",
+            "correction_plan": "爪夹抬升,后向爪夹方向的右侧移动,直至抽屉把手的正上方，后下降触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹推动打开的抽屉向爪夹方向的左侧移动,打开的抽屉即将关闭。",
+            "frame": 810,
+            "progress": 95,
+            "progress_explanation": "当前爪夹推动打开的抽屉即将关闭，因此进度提升为95%。",
+            "state_description": "当前状态为爪夹张开，爪夹推动打开的抽屉即将关闭。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹抬升,后向爪夹方向的右侧移动,直至抽屉把手的正上方。",
+            "time": 26.995933,
+            "annotations": {
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807756785_fisg52h9w",
+                            "x": 0.4425,
+                            "y": 0.5937777777777777
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807758952_2w6d63pca",
+                            "x": 0.7775000000000001,
+                            "y": 0.5991111111111111
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807765753_azwmng48a",
+                            "x": 0.5625,
+                            "y": 0.008888888888888889,
+                            "width": 0.434,
+                            "height": 0.9902222222222222
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升,后向爪夹方向的右侧移动,并下降。",
+            "correction_plan": "爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "error_success_analysis": "爪夹抬升,后向爪夹方向的右侧移动,并下降，打开的抽屉在爪夹方向的正左侧。",
+            "frame": 882,
+            "progress": 97,
+            "progress_explanation": "当前爪夹张开，打开的抽屉在爪夹方向的正左侧，因此进度提升为97%。",
+            "state_description": "当前状态为爪夹张开，打开的抽屉在爪夹方向的正左侧。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。",
+            "time": 29.404843742610836,
+            "annotations": {
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807774137_eznrrughs",
+                            "x": 0.0045,
+                            "y": 0,
+                            "width": 0.28700000000000003,
+                            "height": 0.9991111111111112
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807776008_0ae8f2dba",
+                            "x": 0.4385,
+                            "y": 0.6026666666666667
+                        }
+                    ]
+                },
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807778312_vj76hvxjj",
+                            "x": 0.7665,
+                            "y": 0.6026666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，抽屉完全关闭。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，抽屉已完全关闭。",
+            "frame": 917,
+            "progress": 100,
+            "progress_explanation": "当前爪夹张开，抽屉完全关闭，因此进度提升至100%。",
+            "state_description": "当前状态为爪夹张开，抽屉已完全关闭。\n已完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务。",
+            "time": 30.568006598453607,
+            "annotations": {
+                "point_1768803673706": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673706_1768807783680_ticho7u65",
+                            "x": 0.7735000000000001,
+                            "y": 0.5991111111111111
+                        }
+                    ]
+                },
+                "point_1768803673426": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1768803673426_1768807786432_fnjvu2jrl",
+                            "x": 0.4445,
+                            "y": 0.592
+                        }
+                    ]
+                },
+                "bbox_1768803655370": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1768803655370_1768807793417_sd9d58w6o",
+                            "x": 0.4125,
+                            "y": 0,
+                            "width": 0.16500000000000004,
+                            "height": 0.9955555555555556
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1768803655058",
+            "name": "黄色盖子的白色瓶子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1768803655370",
+            "name": "抽屉"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1768803673426",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1768803673706",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000565.json

@@ -0,0 +1,414 @@
+{
+    "task_description": "抓起杯子移动到左侧桌子上:\t\t\n开始移动:0%\t\t\n爪夹靠近杯子:20%\t\t\n爪夹抓取杯子:40%\t\t\n爪夹抓住杯子接近桌子:60%\t\t\n爪夹将杯子放置桌子上:80%\t\t\n爪夹松开，杯子落至桌子: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",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置于桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触杯子，为完成抓起杯子移动到左边的任务应当:使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取杯子。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 0,
+            "annotations": {
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767511976625_ofuwfyrax",
+                            "x": 0.20740676879882813,
+                            "y": 0.6428722211901851
+                        }
+                    ]
+                },
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512229440_4d5acbb82",
+                            "x": 0.28240676879882814,
+                            "y": 0.38409619296558395,
+                            "width": 0.714,
+                            "height": 0.5635640554908543
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "继续向爪夹方向的右前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近杯子，并使爪夹角度向垂直于桌面，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 44,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上接近杯子，并调整完爪夹角度方便抓取，因此进度提升为10%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，与杯子的水平距离缩短。为完成抓起杯子移动至左侧桌子上的任务应当:继续向爪夹方向的右前方移动直至杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 1.4546870315555949,
+            "annotations": {
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512006744_c9vul6iv5",
+                            "x": 0.2854067687988281,
+                            "y": 0.6948805366639103
+                        }
+                    ]
+                },
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512268625_s8lb0lj6p",
+                            "x": 0.27540676879882814,
+                            "y": 0.38765180214849154,
+                            "width": 0.7209999999999999,
+                            "height": 0.5617862508994005
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹的右侧移动到杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "向右移动爪夹直到杯子正上方，爪夹继续向下抓取杯子，垂直抬起爪夹，然后向爪夹方向的右边移动，直至爪夹处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹方向的右侧移动，并且已经移动到了杯子的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 89,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于杯子正上方，已接近杯子，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，爪夹已经移动到杯子上方。为完成抓起杯子移动至左侧桌子上的任务应当:继续向下抓杯子，然后向爪夹的左上方移动，直至杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 2.975110794539304,
+            "annotations": {
+                "point_1767512032153": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767512032153_1767512055897_x8b33f8vq",
+                            "x": 0.47940676879882815,
+                            "y": 0.8691053866263824
+                        }
+                    ]
+                },
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512059417_vg60ssek9",
+                            "x": 0.5704067687988281,
+                            "y": 0.9059873007253474
+                        }
+                    ]
+                },
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512301201_uz9penuq9",
+                            "x": 0.28040676879882814,
+                            "y": 0.3947630205143068,
+                            "width": 0.7170000000000002,
+                            "height": 0.5546750325335853
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右下方移动，合拢爪夹抓取杯子。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹的右下方移动，并成功抓取到杯子。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 160,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已悬空于杯子正上方，已抓取杯子，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，爪夹已经抓取到杯子。为完成抓取杯子移动到左侧桌子的任务应当:垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到左侧桌子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 5.3424,
+            "annotations": {
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512327657_ppy47lc2p",
+                            "x": 0.2804067687988282,
+                            "y": 0.38942960673994537,
+                            "width": 0.7169999999999999,
+                            "height": 0.5635640554908543
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹上升，抓住杯子向爪夹方向的左侧移动。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "保持爪夹合拢，向爪夹方向的左前方移动，直至杯子处于左侧桌子的正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹已经抓取到杯子，并且在向着左侧桌子方向移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 199,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住杯子，与上一进度相比，在水平方向上逐渐接近桌子，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，抓住杯子处于桌子方向的右上方。为完成抓起被子移动到左侧桌子上的任务应当:爪夹继续合拢，抓取杯子向爪夹方向的左侧移动，直至左侧桌子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 6.620477667402074,
+            "annotations": {
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512346369_g96p7axaj",
+                            "x": 0.2764067687988282,
+                            "y": 0.38054058378267636,
+                            "width": 0.7220000000000001,
+                            "height": 0.5777864922224848
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧杯子向爪夹方向的左侧移动。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "correction_plan": "爪夹保持合拢，进一步移动杯子到左侧桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹保持合拢，并且正确向左侧桌子上移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 234,
+            "progress": 60,
+            "progress_explanation": "当前爪夹已抓住杯子，并移动到了左侧桌子的正上方，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": "当前爪夹合拢，抓住杯子处于桌子的正上方。为完成抓起杯子移动到左侧桌子上的任务应当:爪夹继续合拢，进一步向左侧移动将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 7.793171518643085,
+            "annotations": {
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512373441_z2mbnkdg2",
+                            "x": 0.2814067687988281,
+                            "y": 0.38587399755703783,
+                            "width": 0.7150000000000001,
+                            "height": 0.574230883039577
+                        }
+                    ]
+                },
+                "bbox_1767511913273": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767511913273_1767512398497_j4izn4qc1",
+                            "x": 0.42140676879882816,
+                            "y": 0.6987676056529064,
+                            "width": 0.07699999999999996,
+                            "height": 0.1528911948650267
+                        }
+                    ]
+                },
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512408418_h68qpmtuz",
+                            "x": 0.4414067687988282,
+                            "y": 0.7752132030854197
+                        }
+                    ]
+                },
+                "point_1767512032153": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767512032153_1767512411187_8awv345bl",
+                            "x": 0.42140676879882816,
+                            "y": 0.7592129617623355
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧杯子更近一步向爪夹方向的左侧移动。",
+            "correction_plan": "爪夹保持合拢，下降将杯子放置到桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹保持合拢，向左下移动，并且正确移动到了盘子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 312,
+            "progress": 70,
+            "progress_explanation": "当前爪夹已抓住杯子，并移动到了左侧桌子的正上方，因此进度提升为70%。\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，抓住杯子处于左侧桌子的正上方。为完成抓起杯子移动到左侧桌子上的任务应当:将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 10.390911062531401,
+            "annotations": {
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512144936_qad1rtax0",
+                            "x": 0.32940676879882813,
+                            "y": 0.7375478468588014
+                        }
+                    ]
+                },
+                "point_1767512032153": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767512032153_1767512148361_md3s9xv46",
+                            "x": 0.3164067687988281,
+                            "y": 0.7388736691286902
+                        }
+                    ]
+                },
+                "bbox_1767511913273": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767511913273_1767512155416_j9vle8txo",
+                            "x": 0.3104067687988281,
+                            "y": 0.6642058762876306,
+                            "width": 0.06299999999999999,
+                            "height": 0.11555729844449697
+                        }
+                    ]
+                },
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512185001_pw3dlqtth",
+                            "x": 0.2774067687988281,
+                            "y": 0.38686836002083796,
+                            "width": 0.7190000000000001,
+                            "height": 0.5706752738566695
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧杯子向下移动。",
+            "correction_plan": "松开爪夹\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹保持合拢，向下移动，并且正确移动到了在桌面上。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 358,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已抓住杯子，并移动到了左侧桌面，因此进度提升为80%。",
+            "state_description": "当前爪夹合拢，抓住杯子处于左侧桌面上。为完成抓起杯子移动到左侧桌子上的任务应当:将杯子放置桌子上，松开爪夹。",
+            "time": 11.9232,
+            "annotations": {
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512427305_nulvtzuvu",
+                            "x": 0.2744067687988282,
+                            "y": 0.37520717000831494,
+                            "width": 0.7219999999999999,
+                            "height": 0.5706752738566695
+                        }
+                    ]
+                },
+                "bbox_1767511913273": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767511913273_1767512457337_ugh90galh",
+                            "x": 0.34140676879882814,
+                            "y": 0.7129900423845369,
+                            "width": 0.04599999999999995,
+                            "height": 0.10311266630432023
+                        }
+                    ]
+                },
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512480282_r1lna1vv6",
+                            "x": 0.3664067687988281,
+                            "y": 0.7663241801281507
+                        }
+                    ]
+                },
+                "point_1767512032153": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767512032153_1767512482794_hhub4ww13",
+                            "x": 0.34040676879882814,
+                            "y": 0.7609907663537894
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹松开，杯子落至桌子",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开，并成功的使杯子落至桌子",
+            "frame": 432,
+            "progress": 100,
+            "progress_explanation": "当前爪夹已松开杯子，因此进度提升为100%。",
+            "state_description": "当前爪夹打开，抓住杯子处于左侧桌面上。为完成抓起杯子移动到左侧桌子上的任务应当:松开爪夹。",
+            "time": 14.4,
+            "annotations": {
+                "bbox_1767511913273": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767511913273_1767512494065_2affmfkgh",
+                            "x": 0.34940676879882815,
+                            "y": 0.7041010194272678,
+                            "width": 0.03799999999999999,
+                            "height": 0.1013348617128665
+                        }
+                    ]
+                },
+                "bbox_1767512103601": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1767512103601_1767512528209_8k5632th0",
+                            "x": 0.28240676879882814,
+                            "y": 0.38409619296558395,
+                            "width": 0.7140000000000001,
+                            "height": 0.567119664673762
+                        }
+                    ]
+                },
+                "point_1767512032153": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767512032153_1767512552179_gqwpk5x9m",
+                            "x": 0.3834067687988281,
+                            "y": 0.44098593989210555
+                        }
+                    ]
+                },
+                "point_1767511963849": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1767511963849_1767512554738_h8hgmafq7",
+                            "x": 0.4454067687988282,
+                            "y": 0.43031911234338277
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767511913273",
+            "name": "杯子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767512103601",
+            "name": "桌子",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767511963849",
+            "name": "爪夹右",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767512032153",
+            "name": "爪夹左",
+            "color": "#F44336"
+        }
+    ]
+}