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{
"preview_episode_index": 6,
"episode_id": "real/roboInter_droid/codex/13debb0b-bcce-5faa-900c-78ec14f655af",
"source_episode_index": 114,
"source_episode_name": "10045_exterior_image_1_left",
"source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340",
"start_frame": 74,
"end_frame": 186,
"contact_start_frame": 94,
"contact_end_frame": 166,
"fps": 10.0,
"primitive": "other",
"source_skill": "pick",
"instruction": "take a box out of another box, and then place the other box inside the first box",
"params": {},
"annotator": "robointer-contact-v4-original-language",
"annotator_version": "robointer-contact-v4-original-language",
"boundary_precision": "Endpoint is a gripper-reopening/RGB estimate reviewed using the displayed -3/0/+3-frame bracket; not physical-contact force ground truth.",
"wrist_review_note": "Target is recognizable in all three displayed starting wrist frames; reopening/release sequence was visually reviewed.",
"cameras": {
"primary": {
"source_video": "source/episodes/000114/primary.mp4",
"source_sha256": "03b8ecc37145a5a977df5ee51b8ae0b0a5878ba42d3a10c77f9607b16058eb52",
"target_visible_at_start": true,
"checked_source_frames": [
74,
75,
76
],
"clip_video": "videos/chunk-000/observation.images.primary/episode_000006.mp4"
},
"wrist": {
"source_video": "source/episodes/000114/wrist.mp4",
"source_sha256": "db3c0e4fb3b0e3186bd170ccb75a81a10000030694f48757e4ae5f34ba15bc7f",
"target_visible_at_start": true,
"checked_source_frames": [
74,
75,
76,
163,
166,
169
],
"clip_video": "videos/chunk-000/observation.images.wrist/episode_000006.mp4"
}
},
"instruction_source": "annotation.instruction_add",
"source_language": {
"annotation.instruction_add": "take a box out of another box, and then place the other box inside the first box",
"annotation.substask": "pick up a basket on two stacked baskets",
"other_information.language_instruction_2": "Unstack the two baskets then stack the baskets back together",
"other_information.language_instruction_3": "Swap around the utensil containers"
},
"task_view_episode_index": 0,
"previous_preview_episode_index": 6,
"concrete_task_id": "droid_unstack_basket",
"configuration": "Franka / DROID",
"source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/",
"task_viewer_warning": [
"源指令包含多个步骤，本片段仅展示其中部分阶段。"
]
}
] |