diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..31d30d28cd8ed1293b6bd4c3cab5e4f42e3f7ada --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json @@ -0,0 +1,54 @@ +{ + "episode_index": 15, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd667957237ee196e51804db0be0d9583f2c205 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json @@ -0,0 +1,54 @@ +{ + "episode_index": 16, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..5764d8eb99fcc3067f54cbe5c62dbf957a7188c2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json @@ -0,0 +1,54 @@ +{ + "episode_index": 17, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and push it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..db2ffd9ffe02028ba789819ec3bc7a364e40abda --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json @@ -0,0 +1,54 @@ +{ + "episode_index": 18, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 116, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..83242ddff24af9f2a187804ec9edb06addd0a527 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json @@ -0,0 +1,54 @@ +{ + "episode_index": 19, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards box with white symbols and place it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..1731f0b291cb661801083c5506f19d0ae4ed958e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json @@ -0,0 +1,54 @@ +{ + "episode_index": 20, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the smooth playingcards pack and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..e9037c38fa0bd922fab55f149e2ff9af7c56b1f6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json @@ -0,0 +1,54 @@ +{ + "episode_index": 21, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards with the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..16c949e2fde2491059fc01781dede5f79b1c7a74 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json @@ -0,0 +1,54 @@ +{ + "episode_index": 22, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the small playingcards pack off the table outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 115, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..fab3d85e0669b03f267a7fa367d63e6e992f93d3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json @@ -0,0 +1,54 @@ +{ + "episode_index": 23, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the blue pack holding playingcards and move it outward from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "left", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..b34a1d96fcbb80251eddea695efae3ab4088fd49 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json @@ -0,0 +1,54 @@ +{ + "episode_index": 24, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3cc3fc50bf848a3d547c152efd4005e5ea5d48 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json @@ -0,0 +1,54 @@ +{ + "episode_index": 25, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the blue carton for playingcards off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..dc77997651e70098a28a785ac0af5314758c63e2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json @@ -0,0 +1,54 @@ +{ + "episode_index": 26, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the smooth black cards container outward after grabbing it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce95504c41e12d386cb83ab3c88a633c34c8d8d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json @@ -0,0 +1,54 @@ +{ + "episode_index": 27, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack using the left arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..0176a7733393e9e3e304e64920c113d52dddbb15 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json @@ -0,0 +1,54 @@ +{ + "episode_index": 28, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the red and yellow playingcards case and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..4c79571935c44a0b533aeb5849bc5b4602927598 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json @@ -0,0 +1,54 @@ +{ + "episode_index": 29, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized playingcards carton off the table to the side.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..fb98f3848c0c53bc296535e6daac65053e63ea8c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json @@ -0,0 +1,54 @@ +{ + "episode_index": 30, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..1c177fe24084c1e97fd8d2bc5eda233f29a8e0eb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json @@ -0,0 +1,54 @@ +{ + "episode_index": 31, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..f781f78db4bab35a0cf8cd9deb3e35943b8e8673 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json @@ -0,0 +1,54 @@ +{ + "episode_index": 32, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs with the left arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..574e7aa5e619ab6d77ec0286fa5fe87a13c29a2b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json @@ -0,0 +1,54 @@ +{ + "episode_index": 33, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and take it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..31f5b4768420e401e3bad80d8f6c4a8196f294a1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json @@ -0,0 +1,54 @@ +{ + "episode_index": 34, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangular blue playingcards case and move it aside.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..154f4e8f02183ab85d7d7b731a80018a4fe567c6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json @@ -0,0 +1,54 @@ +{ + "episode_index": 35, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container using the right arm and transfer it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..59dd4a6beb2ad576875c2f7b26663dc12e514dc9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json @@ -0,0 +1,54 @@ +{ + "episode_index": 36, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue and white playingcards packaging and move it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..8c22f33df714ea59cb917ea80bc0442bff1fb87d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json @@ -0,0 +1,54 @@ +{ + "episode_index": 37, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..31b3a09fc659da402e59be0d6353f44722ec8a27 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json @@ -0,0 +1,54 @@ +{ + "episode_index": 38, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..53f7ae495d4ea7d0b365bde8168911500f8c798f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json @@ -0,0 +1,54 @@ +{ + "episode_index": 39, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the yellow and red playingcards box and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..ae794d2ae7493bd7e619ff73186b8afe662b35a2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json @@ -0,0 +1,54 @@ +{ + "episode_index": 40, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular playingcards case and place it further away.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 84, + "end_frame": 118, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 111, + "arm": "right", + "kind": "open", + "start_frame": 104, + "end_frame": 118 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..ab95a8b9797456a492aba9aefb2282324a411f52 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json @@ -0,0 +1,54 @@ +{ + "episode_index": 41, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..92c0e0b49722a2068bb54dccbeb9802f1b6fe0ab --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json @@ -0,0 +1,54 @@ +{ + "episode_index": 42, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue pack holding playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..fb03d1cdcf86a97ce227b93f1c99e301057b733b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json @@ -0,0 +1,54 @@ +{ + "episode_index": 43, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the small playingcards pack farther outward using the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..b5a4a53ba37b73a1b1882fa46b68fb5d2a913b05 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json @@ -0,0 +1,54 @@ +{ + "episode_index": 44, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton using the right arm and transfer it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 107, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "right", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..0da7a9e72b08b9e379b037c906c0c906011e98fd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json @@ -0,0 +1,54 @@ +{ + "episode_index": 45, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box with cards inside away from its position on the table.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 116, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..92c28dc2d6ebdfebfc8eda32d1938e65757ad9cd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json @@ -0,0 +1,54 @@ +{ + "episode_index": 46, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards pack and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..ab481814d78498833766583cb40c8d8f94fd35e5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json @@ -0,0 +1,54 @@ +{ + "episode_index": 47, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the playingcards storage box and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..47eb6daa997ac77a6f6a99055f137499e8189005 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json @@ -0,0 +1,54 @@ +{ + "episode_index": 48, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the yellow and red playingcards box and shift it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..501fdbe82e3fd784b9e85b519b1403de97dee229 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json @@ -0,0 +1,54 @@ +{ + "episode_index": 49, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..7fe154d40642019a52d58b679cc44e022ed9e120 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json @@ -0,0 +1,54 @@ +{ + "episode_index": 50, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container from the table and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..d3554c9431736cdbd800375f9751e6e9094af2f0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json @@ -0,0 +1,54 @@ +{ + "episode_index": 51, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box from the table and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..64ddbb388b5ea35361d6b93c09d26b3fd944da5a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json @@ -0,0 +1,54 @@ +{ + "episode_index": 52, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and push it off the table.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 89, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd29c59c28427d688fc1d1bfacc86e0236c5c94 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json @@ -0,0 +1,54 @@ +{ + "episode_index": 53, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the box with cards inside and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..ef70f098007b2b189984402149a0ea4be271af02 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json @@ -0,0 +1,54 @@ +{ + "episode_index": 54, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and shift it farther away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..fe502de968fe64beb806486c57ce2f0b583bb62e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json @@ -0,0 +1,54 @@ +{ + "episode_index": 55, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs away from its position on the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..ce81db8d8a1353a15aa59712a3950b170763b231 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json @@ -0,0 +1,54 @@ +{ + "episode_index": 56, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the blue carton for playingcards and move it aside.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9b00c4eaa47865e15b276da1f31657bbb023e9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json @@ -0,0 +1,54 @@ +{ + "episode_index": 57, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..20ec237923f726970d26204c550f96a2ac3a9739 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json @@ -0,0 +1,54 @@ +{ + "episode_index": 58, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact box for playing cards and push it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..a36737f6bf61b28a47277203e6c95d9269a698b3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json @@ -0,0 +1,54 @@ +{ + "episode_index": 59, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards pack from the table and shift it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box 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100644 index 0000000000000000000000000000000000000000..109c78bce3c7f71016a8cb132ee5898a5ca7446d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json @@ -0,0 +1,54 @@ +{ + "episode_index": 60, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact red playingcards pack and push it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..7f2129185fc15e0cd953b7c2dd3263324b0bae67 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json @@ -0,0 +1,54 @@ +{ + "episode_index": 61, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the glossy rectangular playingcards box and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea6b3a3b1006d527052a8c98d90041d40c924a0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json @@ -0,0 +1,54 @@ +{ + "episode_index": 62, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box and move it outward from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..25ea5e751f5a8150323477d8439cab533dbba94c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json @@ -0,0 +1,54 @@ +{ + "episode_index": 63, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the card box with golden designs from the table and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..ccdf12a773bfefb7f2b1057b357269ada7741faf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json @@ -0,0 +1,54 @@ +{ + "episode_index": 64, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..359cc1899a18b0d387b5db852bb8e6e3fb36a8d5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json @@ -0,0 +1,54 @@ +{ + "episode_index": 65, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case and move it farther outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..89a0717202fc3fdf757d5b4e7eecdef9b5e04796 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json @@ -0,0 +1,54 @@ +{ + "episode_index": 66, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8ac79b8891f8bca9e956efaf31404eb18a2cbb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json @@ -0,0 +1,54 @@ +{ + "episode_index": 67, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards pack with blue top off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..e47ea636d0aa50a971222786b50c8a346ad3ebd7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json @@ -0,0 +1,54 @@ +{ + "episode_index": 68, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box using the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..19db3f5dffce1c6903338d03e9ba76ff3e64b7f6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json @@ -0,0 +1,54 @@ +{ + "episode_index": 69, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue pack holding playingcards and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..b7f36a2a68c90db63e5d1d8115725e92783bbc78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json @@ -0,0 +1,54 @@ +{ + "episode_index": 70, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards and relocate it off the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..651adfd73a8972043302f357d330a302593f4809 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json @@ -0,0 +1,54 @@ +{ + "episode_index": 71, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and push it off the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..43ee6ac2bcafe3c64d264ccdef2c856b07989b4b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json @@ -0,0 +1,54 @@ +{ + "episode_index": 72, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the rectangular box for card storage and slide it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..6c981de5263b80bf29e21876fcbe2535e5e42cfd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json @@ -0,0 +1,54 @@ +{ + "episode_index": 73, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the red and yellow playingcards case and move it aside.", + "num_frames": 123, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 84, + "end_frame": 117, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 110, + "arm": "right", + "kind": "open", + "start_frame": 103, + "end_frame": 117 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6c4955637bf7967092805956cf3a34d28b012c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json @@ -0,0 +1,54 @@ +{ + "episode_index": 74, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the small playingcards pack and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..677fb393cd20988279094cf44be3b7f099c2fa1a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json @@ -0,0 +1,54 @@ +{ + "episode_index": 75, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the hand-sized playingcards container and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb34c4c45ddbe6167f0b4fea2f1e3a6b344afe9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json @@ -0,0 +1,54 @@ +{ + "episode_index": 76, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the box for playingcards and push it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..62e16ffa71949105c713f809a0b81148725f0e7a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json @@ -0,0 +1,54 @@ +{ + "episode_index": 77, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the yellow and red playingcards box off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..c17f41ee72d35baf0aec278099cdd385d8c535d4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json @@ -0,0 +1,54 @@ +{ + "episode_index": 78, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white accents outward after grabbing it.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 116, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "left", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "left", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..c42816ee396a394e34796287cbc729000736954a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json @@ -0,0 +1,54 @@ +{ + "episode_index": 79, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the right arm, lift the playingcards box with white accents and move it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..cf08d1f0c023f4991722aa84a63f72f7c094d400 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json @@ -0,0 +1,54 @@ +{ + "episode_index": 80, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the glossy rectangular playingcards box using the right arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..09de09f525587f6b4a5d4969d9eb267de55e1799 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json @@ -0,0 +1,54 @@ +{ + "episode_index": 81, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangle-shaped cards box with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..65e3b406c5528f9ea936bb718f056dab11f7d35c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json @@ -0,0 +1,54 @@ +{ + "episode_index": 82, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..c1aa3766c5e8a7094b680fde84625a0e56699a44 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json @@ -0,0 +1,54 @@ +{ + "episode_index": 83, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..a601dd4511a3f219b23df62a174ea3dd5bbd9dc1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json @@ -0,0 +1,54 @@ +{ + "episode_index": 84, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playing cards box with gold text and move it away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..46eaac033a26d07680bacc8cc53add2cf805de87 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json @@ -0,0 +1,54 @@ +{ + "episode_index": 85, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards box with white symbols further outward after picking it up.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e569f01a72d9484602c27f41975c8ae3fe37bb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json @@ -0,0 +1,54 @@ +{ + "episode_index": 86, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..c955aa33cb065e614de376c11b1df5d30b868856 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json @@ -0,0 +1,54 @@ +{ + "episode_index": 87, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the box of playingcards off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..b6e665665d49f3064f15f7e3a0ab0006f5714724 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json @@ -0,0 +1,54 @@ +{ + "episode_index": 88, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage using the left arm and push it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1ac44c915d2cc76101ca3cdecffe332847bc60 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json @@ -0,0 +1,54 @@ +{ + "episode_index": 89, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red and yellow playingcards case and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..b1c6c15289e3eaa8bc52cecdac55320360655c16 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json @@ -0,0 +1,54 @@ +{ + "episode_index": 90, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..5089a936d55153c8fe8112e9ba70d25460c19c51 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json @@ -0,0 +1,54 @@ +{ + "episode_index": 91, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the rectangular blue playingcards case farther outward using the left arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..69f279ca2eb8189076c8872a26bfc5daa4025248 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json @@ -0,0 +1,54 @@ +{ + "episode_index": 92, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..d2027d94e5a7aae1b95fd81dc8b65530cbae97c7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json @@ -0,0 +1,54 @@ +{ + "episode_index": 93, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the small playingcards container off the table to the side.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..a4bfc459098cef388c47ec94fcbb512577372f9f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json @@ -0,0 +1,54 @@ +{ + "episode_index": 94, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards storage box and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..e7bb815809b1a9de69b38ccb05836c22a7e9ce7b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json @@ -0,0 +1,54 @@ +{ + "episode_index": 95, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and move it further outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 86, + "end_frame": 119, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 112, + "arm": "left", + "kind": "open", + "start_frame": 105, + "end_frame": 119 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..4e94716529ec53bde458c07c05a9deb018993d78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json @@ -0,0 +1,54 @@ +{ + "episode_index": 96, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..dd64d55d8915d4730c4a772b569de08381fa4f2f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json @@ -0,0 +1,54 @@ +{ + "episode_index": 97, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the palm-sized box for playing cards and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..ab566691d967a13070930deef88d910c987da6c1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json @@ -0,0 +1,54 @@ +{ + "episode_index": 98, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..8743dc881520357ffa16bb78353908fd96d0ed05 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json @@ -0,0 +1,54 @@ +{ + "episode_index": 99, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols and set it beyond the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..52bc52599856ba83ff4e9925b6739346c40c2c9a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json @@ -0,0 +1,54 @@ +{ + "episode_index": 100, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white symbols off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..06957f738104d94e29e60707c0380a005b17ccb5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json @@ -0,0 +1,54 @@ +{ + "episode_index": 101, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..42ea0463922a69b4e219066e878760283111702c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json @@ -0,0 +1,54 @@ +{ + "episode_index": 102, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the hand-sized playingcards container farther from the table using the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..7014e3b12032a079a8c16acf3f3bce7bbb3384b6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json @@ -0,0 +1,54 @@ +{ + "episode_index": 103, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..ada10266cfdd547d770565ab6046c9d458c89a6c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json @@ -0,0 +1,54 @@ +{ + "episode_index": 104, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the red and yellow playingcards case and move it away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..83fe4b3664482a792b95cf8f0d1771c1f1806dc7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json @@ -0,0 +1,54 @@ +{ + "episode_index": 105, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..d9763c8b32d128a1419a45892d6df1f211e7666e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json @@ -0,0 +1,54 @@ +{ + "episode_index": 106, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..6b04aaabac39b20a209ba30d7537ba1d9947c0d3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json @@ -0,0 +1,54 @@ +{ + "episode_index": 107, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the smooth black cards container and push it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb0b2e3083152d0a24cc019bc3053eb25497b02 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json @@ -0,0 +1,54 @@ +{ + "episode_index": 108, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact red playingcards pack and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..47819ff7a5c4e287115379998dbbfd758a28c954 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json @@ -0,0 +1,54 @@ +{ + "episode_index": 109, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the glossy rectangular playingcards box with the left arm and place it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..01818b823f9391be93125c4edaf7bf782145d3f6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json @@ -0,0 +1,54 @@ +{ + "episode_index": 110, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..f58deeafa58f09444742f15085cfb3bc82fd2eb2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json @@ -0,0 +1,54 @@ +{ + "episode_index": 111, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards with the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d835be06fcde625c17bec3ed5733af8fb0e924 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json @@ -0,0 +1,54 @@ +{ + "episode_index": 112, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..62b33d70b7642ffbc5be81a1e1d628485c994b94 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json @@ -0,0 +1,54 @@ +{ + "episode_index": 113, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and set it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..22c400e1e6643179c39046989d0fb78c67fd6d72 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json @@ -0,0 +1,54 @@ +{ + "episode_index": 114, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..f86b713d24ffb888e71616174819b4ddbb2adf66 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json @@ -0,0 +1,54 @@ +{ + "episode_index": 115, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the cardboard playing cards box with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..83bbf52ac5d4afd321bfb65a1849f81fb845f4d3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json @@ -0,0 +1,54 @@ +{ + "episode_index": 116, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..be9a4c9b614d759e65a85eb054cda4514d7e8b70 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json @@ -0,0 +1,54 @@ +{ + "episode_index": 117, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..47ec2faad2699a63d2094c9dcd29d8aa0c9277db --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json @@ -0,0 +1,54 @@ +{ + "episode_index": 118, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..74a425ddeec4416f2602ca748e0dacdd80402d5e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json @@ -0,0 +1,54 @@ +{ + "episode_index": 119, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the hand-sized playingcards container and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..385cfb764c94e5cddd0fc4fd91ae0a165010ac9f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json @@ -0,0 +1,54 @@ +{ + "episode_index": 120, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the hand-sized playingcards container and move it away.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 87, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 88, + "end_frame": 133, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b8bced620ecb4caffc5d4b20cee842c13dccf4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json @@ -0,0 +1,54 @@ +{ + "episode_index": 121, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and shift it farther away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..4e0767e3bb901680feb0f6db1e7f10ac07376a6b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json @@ -0,0 +1,54 @@ +{ + "episode_index": 122, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized playingcards carton off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..c205b6d8e42a9521b832351b2ec14504cd5a635c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json @@ -0,0 +1,54 @@ +{ + "episode_index": 123, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the box for playingcards and move it aside.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..657b36ffa91771e82b116947ca09b586f5e4af25 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json @@ -0,0 +1,54 @@ +{ + "episode_index": 124, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..77f1b0dffb5461e6c34be6f9e1b3cc08f0f84431 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json @@ -0,0 +1,54 @@ +{ + "episode_index": 125, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards pack with blue top with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..38f035f4c40d6daad7d8e86159347d17fc1ed741 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json @@ -0,0 +1,54 @@ +{ + "episode_index": 126, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..7af8fd012ada2b06b153db7ab010b40f7927d8fd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json @@ -0,0 +1,54 @@ +{ + "episode_index": 127, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container and shift it further outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd4873ddec534eff89da4e6edd9421624b630cc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json @@ -0,0 +1,54 @@ +{ + "episode_index": 128, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the right arm, lift the small playingcards container and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..60f82e474336773c8c235b590eb63de259782d79 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json @@ -0,0 +1,54 @@ +{ + "episode_index": 129, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case and relocate it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..80f094c547fcf14fb54b55f0c39903abb71a6ec1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json @@ -0,0 +1,54 @@ +{ + "episode_index": 130, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the black box with rectangular shape farther outward using the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..279c5eb18c6949c1fecb3c3d8a0fb228b795a663 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json @@ -0,0 +1,54 @@ +{ + "episode_index": 131, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container and push it off the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea46f520786670e8b5c23c82e4be0066846b0c9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json @@ -0,0 +1,54 @@ +{ + "episode_index": 132, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular playingcards case and move it farther outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "left", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..520243397d95af01874919fff7f47d047a251086 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json @@ -0,0 +1,54 @@ +{ + "episode_index": 133, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..48d42fd5f8243b992ca4f3efc52dc498cb601d9d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json @@ -0,0 +1,54 @@ +{ + "episode_index": 134, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..2f65bd2fd4b7579715a9bf23a6da48bc58a2836c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json @@ -0,0 +1,54 @@ +{ + "episode_index": 135, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..23426ad7e191db5cbc4f0bd503156e8d7122a834 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json @@ -0,0 +1,54 @@ +{ + "episode_index": 136, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playing cards box with gold text and move it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..037602f2ec6815f51accafeb4070941630b69596 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json @@ -0,0 +1,54 @@ +{ + "episode_index": 137, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the rectangular playingcards case and move it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ba545a3438a854c91078872f1dc09e7dcecf48 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json @@ -0,0 +1,54 @@ +{ + "episode_index": 138, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small black box with cards and push it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..93ebd0582646c82324141001a2d458f6b75f8bde --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json @@ -0,0 +1,54 @@ +{ + "episode_index": 139, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and take it away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..062bfa725918323e0112c2b2a075561ab8b10611 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json @@ -0,0 +1,54 @@ +{ + "episode_index": 140, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the yellow and red playingcards box away from its position on the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..bf847bf4c615702bb56796cee075adf6897926bb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json @@ -0,0 +1,54 @@ +{ + "episode_index": 141, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the palm-sized box for playing cards and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..bea8205b64d4fca6f47a600bf92b31ac65e4dac4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json @@ -0,0 +1,54 @@ +{ + "episode_index": 142, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the smooth playingcards pack farther outward using the right arm.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..ff192e31fa1c231d4ba05ad09c1e9c8888aa3ba6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json @@ -0,0 +1,54 @@ +{ + "episode_index": 143, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the glossy rectangular playingcards box outward after grabbing it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..61d19e56681eeed4688267ae9bd4d69e039a5b76 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json @@ -0,0 +1,54 @@ +{ + "episode_index": 144, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the palm-sized box for playing cards from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..02bdb679acefa2a9c1d860b2aa591a5f5a77f497 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json @@ -0,0 +1,54 @@ +{ + "episode_index": 145, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..142185521d5a43b1dfcb79d5487fc6aadfec8679 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json @@ -0,0 +1,54 @@ +{ + "episode_index": 146, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white accents off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..1a9dcba96d88cb46d5fbeb34f69e1f4c0591c2f1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json @@ -0,0 +1,54 @@ +{ + "episode_index": 147, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box for playingcards using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": 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"right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f46f375191736e1d7f5492f70a0c538306d48b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json @@ -0,0 +1,54 @@ +{ + "episode_index": 148, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards pack and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..66dc33fc77aca9f6a11b42124ec100b6db09934d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json @@ -0,0 +1,54 @@ +{ + "episode_index": 149, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the card box with golden designs and move it aside.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..98d9b962720f0727f0efecd5d87b389962b4d52b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json @@ -0,0 +1,54 @@ +{ + "episode_index": 150, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and shift it farther away from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..42eea193522a5df36e8665f6ace1eaba77675c93 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json @@ -0,0 +1,54 @@ +{ + "episode_index": 151, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the smooth black cards container and move it away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..be06d8704396cdd69e6c1bd373492508e76c4c80 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json @@ -0,0 +1,54 @@ +{ + "episode_index": 152, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box for playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..04af3426d878b399e46af2e355caf7aec6274451 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json @@ -0,0 +1,54 @@ +{ + "episode_index": 153, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue and white playingcards packaging and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..253f7dabcd32f5fe82ce94d27c91c78fc3e653f2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json @@ -0,0 +1,54 @@ +{ + "episode_index": 154, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards using the left arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..ec8cec38e69902eb9624ef414f9438052785df85 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json @@ -0,0 +1,54 @@ +{ + "episode_index": 155, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth black cards container and shift it farther away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 114, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "left", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..894bec39477f565fd503b1239b2ec71a53f222a7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json @@ -0,0 +1,54 @@ +{ + "episode_index": 156, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the left arm and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..5a693f2f1f1c13196d35c18e733d5337fe7a0253 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json @@ -0,0 +1,54 @@ +{ + "episode_index": 157, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..310bfd6519344db559844b921c41758e60fc3423 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json @@ -0,0 +1,54 @@ +{ + "episode_index": 158, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the palm-sized box for playing cards farther from the table using the right arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..5dfc06c0a62f53b5fd478c395bc4473313e4c722 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json @@ -0,0 +1,54 @@ +{ + "episode_index": 159, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box for playingcards and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..e4592579c8fa3ac9c871ba755c5805f70827130d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json @@ -0,0 +1,54 @@ +{ + "episode_index": 160, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the palm-sized playingcards carton using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..add8b2bcf2ed5a7ee0867b1527e21ca23fe46c39 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json @@ -0,0 +1,54 @@ +{ + "episode_index": 161, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape using the left arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..aa1cd5bff0f25ac593ce0fd568b7f5a1b555d4d6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json @@ -0,0 +1,54 @@ +{ + "episode_index": 162, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular blue playingcards case with the left arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..ad078c3d52e95c550fb7ed60000bf59513dd6bff --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json @@ -0,0 +1,54 @@ +{ + "episode_index": 163, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact red playingcards pack further outward after picking it up.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..604443bd54a531c64b749c0b7d5d2d0e7851a97f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json @@ -0,0 +1,54 @@ +{ + "episode_index": 164, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small playingcards pack and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..a919445f2efccae21f9f4676be59f0d14b44eca2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json @@ -0,0 +1,54 @@ +{ + "episode_index": 165, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact red playingcards pack and push it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..f5db7a6058b106f6f379d03a8aa20d0c5266dd6f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json @@ -0,0 +1,54 @@ +{ + "episode_index": 166, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue and white playingcards packaging and move it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..5311ffb4fe973a68811f7fffc25f916ac54cd067 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json @@ -0,0 +1,54 @@ +{ + "episode_index": 167, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards container and shift it further outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 115, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..5d1cfd305186c935d54511bc4fa6d9c2d17498ad --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json @@ -0,0 +1,54 @@ +{ + "episode_index": 168, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the card box with golden designs and shift it farther away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb25e25c1954e567748d0bd432d57c0adb631a3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json @@ -0,0 +1,54 @@ +{ + "episode_index": 169, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..d20584cc5c8e8e1a06daea8bb4eca10d4a6e3a2c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json @@ -0,0 +1,54 @@ +{ + "episode_index": 170, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..bb38cd78e4c4b4175b242af3ba88fe4f2bfc8cc4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json @@ -0,0 +1,54 @@ +{ + "episode_index": 171, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the cardboard playing cards box and take it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..1b36d4805571e0dab34a3f7201945f8f60b71517 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json @@ -0,0 +1,54 @@ +{ + "episode_index": 172, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangle-shaped cards box and set it beyond the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..f805a7637c32ebfae6370601aa0228e6b20a4a5b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json @@ -0,0 +1,54 @@ +{ + "episode_index": 173, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small playingcards container and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..7bc60015c9866dd1e5290dbcbb47cd872e522835 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json @@ -0,0 +1,54 @@ +{ + "episode_index": 174, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text and move it further away.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc274b3fcb0f48902f6c8bf5adb1c39d8dfa83c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json @@ -0,0 +1,54 @@ +{ + "episode_index": 175, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box and place it farther away with the right arm.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 85, + "end_frame": 118, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 111, + "arm": "right", + "kind": "open", + "start_frame": 104, + "end_frame": 118 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..94f40e8e54c4d54b635672b99c4c7d388da62b7f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json @@ -0,0 +1,54 @@ +{ + "episode_index": 176, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards container and place it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..46c70ee5ab84f0743b8bbf73f50a137f03932089 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json @@ -0,0 +1,54 @@ +{ + "episode_index": 177, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the red and yellow playingcards case off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6644e41b6959032cdaa0f7db98773d8e82b4b6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json @@ -0,0 +1,54 @@ +{ + "episode_index": 178, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the glossy rectangular playingcards box and set it away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..ecbd01ea09d3454dcadd8ddf0aa8f41e3aad2f7e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json @@ -0,0 +1,54 @@ +{ + "episode_index": 179, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text using the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..454c9ef6ba1c8fc1621225ed30a32c13cc02806c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json @@ -0,0 +1,54 @@ +{ + "episode_index": 180, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the palm-sized playingcards carton and push it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..df249268f90a768c51ad38159bea20405eba373c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json @@ -0,0 +1,54 @@ +{ + "episode_index": 181, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box and move it further outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 85, + "end_frame": 119, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "right", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 112, + "arm": "right", + "kind": "open", + "start_frame": 105, + "end_frame": 119 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..07ec055c0d05a8522fa186d49ec0cafc4a4cdfe3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json @@ -0,0 +1,54 @@ +{ + "episode_index": 182, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..16492651d1309ca5c1fb68ca557506739094235d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json @@ -0,0 +1,54 @@ +{ + "episode_index": 183, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box with cards inside using the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..89547655a86145bc3f41dc7656fa56e0657aaac0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json @@ -0,0 +1,54 @@ +{ + "episode_index": 184, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box of playingcards and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d721f747608d7749d18105114315a84fe138cb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json @@ -0,0 +1,54 @@ +{ + "episode_index": 185, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized box for playing cards and slide it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..716782bb2d0327020b6d2a9ea5962394ddd399bc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json @@ -0,0 +1,54 @@ +{ + "episode_index": 186, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards and slide it off the table.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 115, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..9d63f0b6ffbdd78b96f148267a4977488055f033 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json @@ -0,0 +1,54 @@ +{ + "episode_index": 187, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and move it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..d52e0da82d42ecf5ed8442dc5813b994ca48f33d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json @@ -0,0 +1,54 @@ +{ + "episode_index": 188, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the black box with rectangular shape farther outward using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..68d4de9309c766bdbde73730022629eace004177 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json @@ -0,0 +1,54 @@ +{ + "episode_index": 189, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the smooth black cards container and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..9d6ebc6b043a037fc69981ca6416f2425fc36106 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json @@ -0,0 +1,54 @@ +{ + "episode_index": 190, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..62d0e2c39a8c3ac3d199f46428f8e350814137e9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json @@ -0,0 +1,54 @@ +{ + "episode_index": 191, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the red playingcards box outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..766b12c582c7b58e9dcddb91a80b897d7343faea --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json @@ -0,0 +1,54 @@ +{ + "episode_index": 192, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d793a0a214a9b23867329bc39ae55fd2c32318 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json @@ -0,0 +1,54 @@ +{ + "episode_index": 193, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the cardboard playing cards box and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..83da5e93136d10d094e65d0d8af2b8e0850d3890 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json @@ -0,0 +1,54 @@ +{ + "episode_index": 194, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside and place it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..b8785197f00f8d7cac6da352f2b1162f68af0f53 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json @@ -0,0 +1,54 @@ +{ + "episode_index": 195, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..688e5ab02b95c35ddb985147f23cf318a5b80d68 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json @@ -0,0 +1,54 @@ +{ + "episode_index": 196, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue carton for playingcards off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..40fca23ce817cf8ebf28dcc3a143274dbebc6f47 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json @@ -0,0 +1,54 @@ +{ + "episode_index": 197, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small black box with cards farther from the table using the left arm.", + "num_frames": 123, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 84, + "end_frame": 117, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 110, + "arm": "left", + "kind": "open", + "start_frame": 103, + "end_frame": 117 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..b6df08044742ec06a538c105ae31c5bcc7948b86 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json @@ -0,0 +1,54 @@ +{ + "episode_index": 198, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the card box with golden designs from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..b914eb9a8fd9f95ad7df31935756f1d25fb61150 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json @@ -0,0 +1,54 @@ +{ + "episode_index": 199, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the palm-sized playingcards carton off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..201145fa02ee5635acd8c60ed809629370a66cbc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json @@ -0,0 +1,54 @@ +{ + "episode_index": 200, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder using the left arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8b67a16610ae2339dba8811e895253d3795744 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json @@ -0,0 +1,54 @@ +{ + "episode_index": 201, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the smooth black cards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9e7be14eeeebf14fc05759e011a7bd1085532f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json @@ -0,0 +1,54 @@ +{ + "episode_index": 202, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the rectangular playingcards case off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..99c57a510bc23885a86216d116b0c10b5e6133d2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json @@ -0,0 +1,54 @@ +{ + "episode_index": 203, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and move it farther outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..9fb278553ffcd8a5c24cc1a9feb728a55ad70360 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json @@ -0,0 +1,54 @@ +{ + "episode_index": 204, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the box for playingcards and move it aside.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..6530410cae39dcbe3bce84eba926d6eba3210898 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json @@ -0,0 +1,54 @@ +{ + "episode_index": 205, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2447a717dc9f2fff7b5a288bb830e7cb930068 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json @@ -0,0 +1,54 @@ +{ + "episode_index": 206, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..e9521e1b84bf22f7a921af5da706f5f75c84b931 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json @@ -0,0 +1,54 @@ +{ + "episode_index": 207, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..0e5d9958564aee69a5636620a198268294c953b9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json @@ -0,0 +1,54 @@ +{ + "episode_index": 208, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playingcards storage box and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..c3da3521eab2b4c00a12bda57aa42aaa58e43aec --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json @@ -0,0 +1,54 @@ +{ + "episode_index": 209, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the rectangular box for card storage and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..ae68e16895d83f91b7286e4a3555908d31160516 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json @@ -0,0 +1,54 @@ +{ + "episode_index": 210, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a63e16f89991b0ce9c83962960419fe2c831a5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json @@ -0,0 +1,54 @@ +{ + "episode_index": 211, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the hand-sized playingcards container and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..f2766060c99ade168aae9b87e6a17fd4f1fb3abf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json @@ -0,0 +1,54 @@ +{ + "episode_index": 212, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the playing cards box with gold text and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..1058d06dea4e2f0caa56c90e607510bde3e70166 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json @@ -0,0 +1,54 @@ +{ + "episode_index": 213, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it further outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..657f6d29931cb3a195e4278894b0386abf0211dd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json @@ -0,0 +1,54 @@ +{ + "episode_index": 214, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the card box with golden designs and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..ab26c02437ef8e6f4b3bc8f415bd3cc93962e237 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json @@ -0,0 +1,54 @@ +{ + "episode_index": 215, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box of playingcards and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2bc6942db95e3c7adcc8c2ec1d98653e3cc70f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json @@ -0,0 +1,54 @@ +{ + "episode_index": 216, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular blue playingcards case outward by grabbing it with the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..733713e7cde289e44d01e3e8a9378b24ebdc0e74 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json @@ -0,0 +1,54 @@ +{ + "episode_index": 217, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box holding playing cards and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..8d0b2d600a0ba091cbe9adf9870672891410c80f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json @@ -0,0 +1,54 @@ +{ + "episode_index": 218, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the hand-sized playingcards container and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..d77e963f8faf77563b4bbfc7b1adf0d9967dfa5e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json @@ -0,0 +1,54 @@ +{ + "episode_index": 219, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..4847dbc9941a0423de21845dde0fc4532a79a82c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json @@ -0,0 +1,54 @@ +{ + "episode_index": 220, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white accents from the table and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..f86a5f35726f0914d98718108a83815be119cadc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json @@ -0,0 +1,54 @@ +{ + "episode_index": 221, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the small playingcards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..b6622436b901d9d613fef22d32a2c71c1ade0d9b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json @@ -0,0 +1,54 @@ +{ + "episode_index": 222, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the yellow and red playingcards box and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..f8065e20f540db75e944cebfc4e612b1efd449a8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json @@ -0,0 +1,54 @@ +{ + "episode_index": 223, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..2732151f58ed7fee1e55f384ef41db8c04897a43 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json @@ -0,0 +1,54 @@ +{ + "episode_index": 224, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the box for playingcards and move it outward from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..9762c94995edd4111ce2cf065b2b2257b0f06ac0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json @@ -0,0 +1,54 @@ +{ + "episode_index": 225, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the black box with rectangular shape off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..944641869359e5eb5be26598de4dd31e20bb5093 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json @@ -0,0 +1,54 @@ +{ + "episode_index": 226, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and push it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd2cae229d00560628d5c87037a9ba897f61408 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json @@ -0,0 +1,54 @@ +{ + "episode_index": 227, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red and yellow playingcards case and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..825c8a626c3a091a2df923f8e44aba509e943742 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json @@ -0,0 +1,54 @@ +{ + "episode_index": 228, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small playingcards container outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..cd37e75a5b880991b68bd40f3382a41d9bc05b43 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json @@ -0,0 +1,54 @@ +{ + "episode_index": 229, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards using the right arm and move it outward.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..2266167e94bb660bc2268e1bf717765a755a84a7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json @@ -0,0 +1,54 @@ +{ + "episode_index": 230, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red playingcards box and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..284fb620c402ef8a1585b2b6aa18b703c1ac2666 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json @@ -0,0 +1,54 @@ +{ + "episode_index": 231, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..9422b87c66941c8c90deb1bdb9dfe5ae67845d58 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json @@ -0,0 +1,54 @@ +{ + "episode_index": 232, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..1f72f2e1d49733002b16300f8dc39f9299cbb431 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json @@ -0,0 +1,54 @@ +{ + "episode_index": 233, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box of playingcards outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..6f3d4ad5793d0294e957b250dfabeeb4cc762011 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json @@ -0,0 +1,54 @@ +{ + "episode_index": 234, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the black box with rectangular shape and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..bee5e1ca27cef4d576a1a2c84b7d224f2c820570 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json @@ -0,0 +1,54 @@ +{ + "episode_index": 235, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the palm-sized playingcards carton and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..1cafd939521e309e1c34490fccdac0de8a68c4ec --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json @@ -0,0 +1,54 @@ +{ + "episode_index": 236, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards pack from the table and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..bd1f4168957c1a3caf8a414e4b78aa885e72b232 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json @@ -0,0 +1,54 @@ +{ + "episode_index": 237, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the palm-sized box for playing cards and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..9e32df8b945018c61a82694d09e95b3d9c2526fd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json @@ -0,0 +1,54 @@ +{ + "episode_index": 238, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..6bda79f0e9e5e98307014da7036d034015ee1ed0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json @@ -0,0 +1,54 @@ +{ + "episode_index": 239, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box for playingcards and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..7b7363afccec4bdfb7a8e129b3a32ed8b50cae7b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json @@ -0,0 +1,54 @@ +{ + "episode_index": 240, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue playingcards box off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..78e52f9d4d5312578dd625c97c403b5ddd7528dc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json @@ -0,0 +1,54 @@ +{ + "episode_index": 241, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the smooth playingcards holder and slide it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..1423ed48b0cdd72c9b9d0d818d5d8ce259bff5c7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json @@ -0,0 +1,54 @@ +{ + "episode_index": 242, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards holder and move it away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..71e3ab2c2fb3d474d2ed47ffbd9ef8705940e30a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json @@ -0,0 +1,54 @@ +{ + "episode_index": 243, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..b214670fd0e619fdafafb4a55cb52ce45e77e1cd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json @@ -0,0 +1,54 @@ +{ + "episode_index": 244, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the cardboard playing cards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..068e2b120647268944858e495a63effd4db784ef --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json @@ -0,0 +1,54 @@ +{ + "episode_index": 245, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8c0bfeb30d265ee5f9211f964160e4a236fe3e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json @@ -0,0 +1,54 @@ +{ + "episode_index": 246, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the blue playingcards box and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1b06f54e1ea196f7a22e821129d2ec3fd30632 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json @@ -0,0 +1,54 @@ +{ + "episode_index": 247, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the small playingcards container and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..a50ec93dba31d12cd9314670c4c54edf0fe4f540 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json @@ -0,0 +1,54 @@ +{ + "episode_index": 248, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the compact box for playing cards with the right arm and place it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..c901427dc28a34dbab05ba99f87996076b180c8d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json @@ -0,0 +1,54 @@ +{ + "episode_index": 249, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue playingcards box and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..1267ee67d6d3bffc970e3fc24b38adf94f0ff46e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json @@ -0,0 +1,54 @@ +{ + "episode_index": 250, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the yellow and red playingcards box and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8f7247a2b20e65fbfeb8cce6c7be6d7ee7fd87 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json @@ -0,0 +1,54 @@ +{ + "episode_index": 251, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the playingcards pack with blue top and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..2a476b76dfcf7f95df9316c1530761909999ddd3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json @@ -0,0 +1,54 @@ +{ + "episode_index": 252, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..e3958dac2a45cb33234a2efab6dfe36395b1b733 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json @@ -0,0 +1,54 @@ +{ + "episode_index": 253, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..380a30f4f42b7c57a91f89e66bc0bc7f7d07dbc3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json @@ -0,0 +1,54 @@ +{ + "episode_index": 254, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton using the left arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..95dab440536380a25f8c932d4b655619452c0d65 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json @@ -0,0 +1,54 @@ +{ + "episode_index": 255, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the small playingcards container and shift it outward.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "left", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..5b3429e01ea76a237ea808176cd7e7c2852d5345 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json @@ -0,0 +1,54 @@ +{ + "episode_index": 256, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the yellow and red playingcards box with the right arm and place it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..c1514e913cef3d9459d2758b246e7c786eccfef6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json @@ -0,0 +1,54 @@ +{ + "episode_index": 257, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the palm-sized box for playing cards and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..53228f66aabf7f821973bc2c4122aaf14b70fdbc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json @@ -0,0 +1,54 @@ +{ + "episode_index": 258, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangle-shaped cards box and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d478ae98d5b710c70e6fadf93d82ff6dcfe929 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json @@ -0,0 +1,54 @@ +{ + "episode_index": 259, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols using the left arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..a550a3958c774a7b965daf44cb76d65dd9044034 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json @@ -0,0 +1,54 @@ +{ + "episode_index": 260, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the rectangular blue playingcards case away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..64b7cff2177d9b14edca5763eff1ba38aeb650bd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json @@ -0,0 +1,54 @@ +{ + "episode_index": 261, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..59421b27ac69df961714463cca8ee919648e1e3d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json @@ -0,0 +1,54 @@ +{ + "episode_index": 262, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..7160b5f92c50e0ad02f103de52365bc2fe24775b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json @@ -0,0 +1,54 @@ +{ + "episode_index": 263, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton using the left arm and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..bf342fd0b82651ac97348b9f2ba71c490657da45 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json @@ -0,0 +1,54 @@ +{ + "episode_index": 264, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the compact red playingcards pack and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..3faaa472c3e2911bdc8daa42309962e55a8bd99d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json @@ -0,0 +1,54 @@ +{ + "episode_index": 265, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..1726081eb2a39a95661c29a782bdd2d02710c926 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json @@ -0,0 +1,54 @@ +{ + "episode_index": 266, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized box for playing cards outward after grabbing it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..fe486ce1873fa352f55fe16edb440759e2997215 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json @@ -0,0 +1,54 @@ +{ + "episode_index": 267, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box for playingcards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b508d49dbba2b0e8de53cbf53c08f6ba653a65 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json @@ -0,0 +1,54 @@ +{ + "episode_index": 268, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it farther outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..7b997dbe785905d895fad3e749a97de681080655 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json @@ -0,0 +1,54 @@ +{ + "episode_index": 269, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the small black box with cards and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..ae6af06edb6ecda6e5e1856deafaa1ff37f601c7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json @@ -0,0 +1,54 @@ +{ + "episode_index": 270, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white symbols and slide it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..11baa9ac4ba645e3f16263bc9cac2fea9238b14d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json @@ -0,0 +1,54 @@ +{ + "episode_index": 271, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the blue and white playingcards packaging and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd3753dc84b1fab91768e67636f0452534a7def --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json @@ -0,0 +1,54 @@ +{ + "episode_index": 272, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..04471f6f755aa05534af116f7e464601a43a9aa9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json @@ -0,0 +1,54 @@ +{ + "episode_index": 273, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular blue playingcards case and place it farther away with the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..15a1bff17eb58f5c70884d9e96061d6f7539da8d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json @@ -0,0 +1,54 @@ +{ + "episode_index": 274, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular blue playingcards case and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..6760cd0620794719b397a7208547b83d94464148 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json @@ -0,0 +1,54 @@ +{ + "episode_index": 275, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the rectangular playingcards case away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0d2f2393d4aed884f564b260a13a8905888913 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json @@ -0,0 +1,54 @@ +{ + "episode_index": 276, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..ec23fcbbe75a5bff307fc1e0fe078709b3b20c3e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json @@ -0,0 +1,54 @@ +{ + "episode_index": 277, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards storage box and relocate it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..3d6004bb3e4a81b867ffa72234e3f303869c64ae --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json @@ -0,0 +1,54 @@ +{ + "episode_index": 278, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and slide it off the table.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box 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100644 index 0000000000000000000000000000000000000000..cfb5932b5f3a3a3a0555f3b84a244ad1cb62be60 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json @@ -0,0 +1,54 @@ +{ + "episode_index": 279, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..5f157bd634f4401c13a93c34b794297709108d82 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json @@ -0,0 +1,54 @@ +{ + "episode_index": 280, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards box with white symbols outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..fd24173674fddebea5f4add09744c74bfdc1018b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json @@ -0,0 +1,54 @@ +{ + "episode_index": 281, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it beyond the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..d407af722b7d95ce986ab628ed08270786deca06 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json @@ -0,0 +1,54 @@ +{ + "episode_index": 282, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..d1576339a48b30eb2e179f5cbc82eded6bb2bd92 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json @@ -0,0 +1,54 @@ +{ + "episode_index": 283, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcfa8296ebec22e16b71b1fb7592f6cd4aab14e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json @@ -0,0 +1,54 @@ +{ + "episode_index": 284, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact red playingcards pack away from its position on the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6a1adab8ba9a697141201a9179f399ae14a40b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json @@ -0,0 +1,54 @@ +{ + "episode_index": 285, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box holding playing cards and place it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..7855445caeb4555335671f9b463292f77abec925 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json @@ -0,0 +1,54 @@ +{ + "episode_index": 286, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards and relocate it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..c1fb41a106f61439a792bdb14508a9758586d83c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json @@ -0,0 +1,54 @@ +{ + "episode_index": 287, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the right arm, lift the red playingcards box and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card 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mode 100644 index 0000000000000000000000000000000000000000..0917f97a6d7f48e4043c4475dd9759d83c0eb1f7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json @@ -0,0 +1,54 @@ +{ + "episode_index": 288, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the box holding playing cards outward after grabbing it.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..2ad96de1e96a28f0252609757460965a30dc11e8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json @@ -0,0 +1,54 @@ +{ + "episode_index": 289, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the box for playingcards and slide it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb27ab1970ca33da277dbc41f5d61a93b6c0dc5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json @@ -0,0 +1,54 @@ +{ + "episode_index": 290, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the smooth black cards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..eccc059684b9679ba34e630fffb39d1cc55961a5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json @@ -0,0 +1,54 @@ +{ + "episode_index": 291, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box of playingcards and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..35eaf3043d9ace3b811738c241d2d5904b67746a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json @@ -0,0 +1,54 @@ +{ + "episode_index": 292, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards holder using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd905c8cfab0c7259b5e1387ca9ba78af4e588e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json @@ -0,0 +1,54 @@ +{ + "episode_index": 293, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the playingcards pack with blue top and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..479fa75b7695befb5c780e2e78754270493b397c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json @@ -0,0 +1,54 @@ +{ + "episode_index": 294, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the box for playingcards off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..02cc4759dc8801e26e7602c47814c7c93c529f09 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json @@ -0,0 +1,54 @@ +{ + "episode_index": 295, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth black cards container and take it away from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card 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mode 100644 index 0000000000000000000000000000000000000000..f13878dc4b1e42ae4056debaad580fc3014d0e83 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json @@ -0,0 +1,54 @@ +{ + "episode_index": 296, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and set it beyond the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..343d044fed6f68ee3a151334169d8676f30b9b79 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json @@ -0,0 +1,54 @@ +{ + "episode_index": 297, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the cardboard playing cards box and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..206b3b47c00ee4c80c2ebc7fe0c426c7baf4d733 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json @@ -0,0 +1,54 @@ +{ + "episode_index": 298, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the smooth playingcards holder and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..7739c93f5a8a66a1a545188c0dc64c4aaf24e888 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json @@ -0,0 +1,54 @@ +{ + "episode_index": 299, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..2a143fd395d3ca8e0d9cb9fa15a1b0e4ec1e82e4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json @@ -0,0 +1,54 @@ +{ + "episode_index": 300, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the yellow and red playingcards box away from its position on the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..babb50168017959310ee6d05f2c5136106fdb601 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json @@ -0,0 +1,54 @@ +{ + "episode_index": 301, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..ae06dfa984992ff8af718b95db233c366b894f20 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json @@ -0,0 +1,54 @@ +{ + "episode_index": 302, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the blue pack holding playingcards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..32698f60873413c4dcf4bc2e16fcd6f78da37a8e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json @@ -0,0 +1,54 @@ +{ + "episode_index": 303, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the small playingcards container and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..ec902c0475f253f116ce6e7a7413a7276eaa6764 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json @@ -0,0 +1,54 @@ +{ + "episode_index": 304, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangular playingcards case and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..54f1c74432462c92e128f50028a10a1ff6181f48 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json @@ -0,0 +1,54 @@ +{ + "episode_index": 305, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular playingcards case and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..66b9386d90b889f8de4d169fee9a8ff01f40bc2c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json @@ -0,0 +1,54 @@ +{ + "episode_index": 306, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red playingcards box farther from the table using the left arm.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..74438b844e80fdcfab43ac5f7b994ad095dc8c87 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json @@ -0,0 +1,54 @@ +{ + "episode_index": 307, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the box of playingcards and move it aside.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..5c9659fe1c4e6683dc221077e13287b3c1df80b6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json @@ -0,0 +1,54 @@ +{ + "episode_index": 308, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the smooth playingcards holder and move it away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..dca45d73c7387df70e9a2cac7a6da6ff6a2ab943 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json @@ -0,0 +1,54 @@ +{ + "episode_index": 309, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red and yellow playingcards case and place it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..dae80b7d2364420fc358c65ef5540c6324da11db --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json @@ -0,0 +1,54 @@ +{ + "episode_index": 310, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the blue playingcards box and move it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..f57988cef21bcfcffa394b1b42d2c98656f69c11 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json @@ -0,0 +1,54 @@ +{ + "episode_index": 311, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards pack and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..df1f21c0e5684c8b5e9eed22867b43744936bcee --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json @@ -0,0 +1,54 @@ +{ + "episode_index": 312, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the box for playingcards from the table and shift it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box 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100644 index 0000000000000000000000000000000000000000..1424121ddfb926936fd748398f55b2129db30654 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json @@ -0,0 +1,54 @@ +{ + "episode_index": 313, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box using the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..352a523e42880b6d558e66438777557c88705e48 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json @@ -0,0 +1,54 @@ +{ + "episode_index": 314, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs farther from the table using the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..7389e87ebd590dbeafa349eed8281fdaf81889be --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json @@ -0,0 +1,54 @@ +{ + "episode_index": 315, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1840e68078d7f0a4250b368d6f78ebb380814a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json @@ -0,0 +1,54 @@ +{ + "episode_index": 316, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box using the left arm and transfer it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..ffcb104ee5001c62329f8de9a0f37cac4a8d6ea8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json @@ -0,0 +1,54 @@ +{ + "episode_index": 317, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playingcards pack with blue top using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..eeafa906fa9306b0931d307a7fd885a04cd0eb67 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json @@ -0,0 +1,54 @@ +{ + "episode_index": 318, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box holding playing cards and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..af233875a9baff11a330836778b4c0ab606d1f2a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json @@ -0,0 +1,54 @@ +{ + "episode_index": 319, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box for playingcards and slide it outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 86, + "end_frame": 119, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 112, + "arm": "right", + "kind": "open", + "start_frame": 105, + "end_frame": 119 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..308fd849bf8a85d6e09d2ceae7affcf3d8d7d5f2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json @@ -0,0 +1,54 @@ +{ + "episode_index": 320, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red playingcards box and place it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..36e8ea6041dfdab6574567687266b652fc1a6c1a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json @@ -0,0 +1,54 @@ +{ + "episode_index": 321, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5495753a516b1c9a56ddd9ff7320ea1c3331fc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json @@ -0,0 +1,54 @@ +{ + "episode_index": 322, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and set it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..a5466213bbc58bd1507d41f5d195d23b1fe3a34c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json @@ -0,0 +1,54 @@ +{ + "episode_index": 323, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white symbols and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1419363f4e7f4973754abb6028323c69a10d8c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json @@ -0,0 +1,54 @@ +{ + "episode_index": 324, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack using the right arm and transfer it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..0535dc3a9010b251d8163db280841b74881a1738 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json @@ -0,0 +1,54 @@ +{ + "episode_index": 325, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and push it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..36aa5e38d939026241f2cf0b39a6078a931dda0e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json @@ -0,0 +1,54 @@ +{ + "episode_index": 326, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..c07b6f4e22df87e1a127fce17f06af428615c817 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json @@ -0,0 +1,54 @@ +{ + "episode_index": 327, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the small playingcards container and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..4f13ca84b4f7f94061f110aa02ab6c0a0b7c124a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json @@ -0,0 +1,54 @@ +{ + "episode_index": 328, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the right arm and push it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 116, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..ee31d9dbac41875f54d676360b1a661a8c28779c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json @@ -0,0 +1,54 @@ +{ + "episode_index": 329, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue playingcards box and place it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..247781fd1b895a5b3cc70c08c5904e5e4792667e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json @@ -0,0 +1,54 @@ +{ + "episode_index": 330, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the rectangle-shaped cards box farther outward using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..822ab1e5a9799a5076584c8368b0bede42ca9285 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json @@ -0,0 +1,54 @@ +{ + "episode_index": 331, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue playingcards box from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..17e727e8b93bf36dbfc164fb7a37da3884751d50 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json @@ -0,0 +1,54 @@ +{ + "episode_index": 332, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards and move it further away.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..12e10db15e8a33b3174bc0b7b93c4b38143766f2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json @@ -0,0 +1,54 @@ +{ + "episode_index": 333, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box and place it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..a0064257111366e2a4d6cdea4fc9eebb6f98736f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json @@ -0,0 +1,54 @@ +{ + "episode_index": 334, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the blue pack holding playingcards and push it outward.", + "num_frames": 127, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 87, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 88, + "end_frame": 121, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 114, + "arm": "left", + "kind": "open", + "start_frame": 107, + "end_frame": 121 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b37dbb7ce1e35033909c5f76a3481ee7ced4c9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json @@ -0,0 +1,54 @@ +{ + "episode_index": 335, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards holder and set it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..d0939b2070be2514f6d9662a50050d357ad34880 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json @@ -0,0 +1,54 @@ +{ + "episode_index": 336, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the yellow and red playingcards box and move it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..d2dfea108c1c861baccb548316d3dec813d09b2f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json @@ -0,0 +1,54 @@ +{ + "episode_index": 337, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the small black box with cards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..e45c8fbeb579e280971d8eca177fb0189a6bee1e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json @@ -0,0 +1,54 @@ +{ + "episode_index": 338, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3a0a27b29b0c56a5deafe2cf8ebeacd8a8249a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json @@ -0,0 +1,54 @@ +{ + "episode_index": 339, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case and shift it further outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..9872e84889e7b1db5746f32edf67eb819532c923 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json @@ -0,0 +1,54 @@ +{ + "episode_index": 340, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..0e6ab8bedfd7580f8e07712580c345b1817f52a5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json @@ -0,0 +1,54 @@ +{ + "episode_index": 341, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs using the left arm and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..d47cf02e187a4d1116cfff5619e9dd1bb5796aa2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json @@ -0,0 +1,54 @@ +{ + "episode_index": 342, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red playingcards box and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..c1360ded31bd0414f829b6d0c4ea551fefa27836 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json @@ -0,0 +1,54 @@ +{ + "episode_index": 343, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape and move it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..93c8f9e44f7ed8d6da0d3a9deaa4fc1588e19782 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json @@ -0,0 +1,54 @@ +{ + "episode_index": 344, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the card box with golden designs and move it.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..900d564d491b3c76a08626e87d6e06ee345203c0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json @@ -0,0 +1,54 @@ +{ + "episode_index": 345, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the smooth playingcards pack outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..ead6c2adeecd35d92106e683ef67891f0324343f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json @@ -0,0 +1,54 @@ +{ + "episode_index": 346, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards and push it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..20c9f75f42bbec155a3e60b9de771c52c81d7c16 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json @@ -0,0 +1,54 @@ +{ + "episode_index": 347, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..79ff150027897635c9808626c5209014c091e646 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json @@ -0,0 +1,54 @@ +{ + "episode_index": 348, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and push it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a79b5ddca84e42eb98d084d4bb14528d964ebd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json @@ -0,0 +1,54 @@ +{ + "episode_index": 349, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box from the table and shift it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..0ad90a1d860aa9773d7a2ccb06515378707cde37 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json @@ -0,0 +1,54 @@ +{ + "episode_index": 350, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the playingcards box with white symbols and move it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..f19a6b7c3dc3bc22fe05d95e8c4fc25b83c5db23 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json @@ -0,0 +1,54 @@ +{ + "episode_index": 351, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container with the right arm and place it outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 115, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..caa6dc66d114ba407d823c910268ab4c81e11ea7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json @@ -0,0 +1,54 @@ +{ + "episode_index": 352, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and push it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..84a6945c7fa34db44750864fb261adc6ab166d83 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json @@ -0,0 +1,54 @@ +{ + "episode_index": 353, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the compact red playingcards pack and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..52734ab22385000a3a695670c45162608e2e44d4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json @@ -0,0 +1,54 @@ +{ + "episode_index": 354, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..52a1474217ace4d7b898c066c8c9beee32e5903c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json @@ -0,0 +1,54 @@ +{ + "episode_index": 355, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..0c80bfd16422b56572189cbff9f3375c90a3da78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json @@ -0,0 +1,54 @@ +{ + "episode_index": 356, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards storage box farther from the table using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..7aad07897d360a9c996cc6abb699b3201a16aafb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json @@ -0,0 +1,54 @@ +{ + "episode_index": 357, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small black box with cards further outward after picking it up.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..1d975a2fc081a3ef8f436f089eea696d13109801 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json @@ -0,0 +1,54 @@ +{ + "episode_index": 358, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the blue and white playingcards packaging and slide it outward.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 89, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 90, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..268660398d32f5859ed171f75ea6db318f66bc3c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json @@ -0,0 +1,54 @@ +{ + "episode_index": 359, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact red playingcards pack and place it beyond the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4e2cee20e42c5940b63da437df30defb3163c4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json @@ -0,0 +1,54 @@ +{ + "episode_index": 360, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards box with white symbols and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..0e90892c72c994009b50e48029f58a2bb9655d38 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json @@ -0,0 +1,54 @@ +{ + "episode_index": 361, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it farther outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away 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index 0000000000000000000000000000000000000000..6dccf91c4feeb7c90a5aecec791ae5150b08a92e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json @@ -0,0 +1,54 @@ +{ + "episode_index": 362, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the small playingcards container off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..e92c3db2018ba906d066b96a4e198e0084872816 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json @@ -0,0 +1,54 @@ +{ + "episode_index": 363, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..b37e1a1b06774bfc6067df983b47e97ce031ff07 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json @@ -0,0 +1,54 @@ +{ + "episode_index": 364, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the yellow and red playingcards box away from the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc2e49e10d1fbd1be1ece7812ce93d0be7ae1e0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json @@ -0,0 +1,54 @@ +{ + "episode_index": 365, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box of playingcards and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..3a968a66636aafab6ac544be659bf75ee8fb05f6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json @@ -0,0 +1,54 @@ +{ + "episode_index": 366, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..2b9d2f90fd0a683c588d3641fd6f259973140dbe --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json @@ -0,0 +1,54 @@ +{ + "episode_index": 367, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the yellow and red playingcards box and move it away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd54814f1c1b145764533c7c4da8d7259ed9e33 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json @@ -0,0 +1,54 @@ +{ + "episode_index": 368, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the palm-sized playingcards carton from the table and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..b6db626f60e93c991d4d1fae453fd1eb51066291 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json @@ -0,0 +1,54 @@ +{ + "episode_index": 369, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and place it farther away with the right arm.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f1701ee72faecb4564f53b56e9165e84106d9e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json @@ -0,0 +1,54 @@ +{ + "episode_index": 370, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton and place it farther away with the left arm.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 113, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 106, + "arm": "left", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..976f1a9c8514dcf4f147ed54c27ec95af036a79c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json @@ -0,0 +1,54 @@ +{ + "episode_index": 371, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the glossy rectangular playingcards box and move it away.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 107, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 100, + "arm": "right", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..5b82b6e60861b90172e6e8f4cb00438457b00470 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json @@ -0,0 +1,54 @@ +{ + "episode_index": 372, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the rectangle-shaped cards box outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..1fc115009ffbe9268006eba9cbb1cb81bdbc5805 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json @@ -0,0 +1,54 @@ +{ + "episode_index": 373, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..1e3e528c2748f2cd10b518f6e8d0f4314db363b9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json @@ -0,0 +1,54 @@ +{ + "episode_index": 374, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..0236c90f323fa25e0f5e54ccc50d25059e7e8200 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json @@ -0,0 +1,54 @@ +{ + "episode_index": 375, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..ff923280aee9ddd762b2eede7144263858fa3419 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json @@ -0,0 +1,54 @@ +{ + "episode_index": 376, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the blue pack holding playingcards outward by grabbing it with the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..9d4054988ce77e5c103c731038808e83e0dc2cbd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json @@ -0,0 +1,54 @@ +{ + "episode_index": 377, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards and slide it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..e60681ce246af213230bc7ec47cb808ada82e196 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json @@ -0,0 +1,54 @@ +{ + "episode_index": 378, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box and set it away from the table.", + "num_frames": 126, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 86, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 87, + "end_frame": 120, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "right", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 113, + "arm": "right", + "kind": "open", + "start_frame": 106, + "end_frame": 120 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..21a4e205fdb55b5303748991950e8570d9e412e1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json @@ -0,0 +1,54 @@ +{ + "episode_index": 379, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the cardboard playing cards box and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card 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mode 100644 index 0000000000000000000000000000000000000000..c29441eaf4445d261bf03c69dcd8ef27f92cde82 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json @@ -0,0 +1,54 @@ +{ + "episode_index": 380, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and set it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..77a4ac7b27d7a675098a37945011113e974f2625 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json @@ -0,0 +1,54 @@ +{ + "episode_index": 381, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..5acf884be83c0f5972e8971cb846eec293e5e7c8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json @@ -0,0 +1,54 @@ +{ + "episode_index": 382, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..df8f8df3c025941df1edb6c6ed0bd290ef9bc20e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json @@ -0,0 +1,54 @@ +{ + "episode_index": 383, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue and white playingcards packaging using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..98f5f3986480b17e52ca811cddad9823327ab412 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json @@ -0,0 +1,54 @@ +{ + "episode_index": 384, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd30605b1073190052e6cb6e649d5f588db8c01 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json @@ -0,0 +1,54 @@ +{ + "episode_index": 385, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the small playingcards container and move it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 116, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..dd646104e181c2141d26d649c306f8e76dcee61e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json @@ -0,0 +1,54 @@ +{ + "episode_index": 386, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the smooth black cards container and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..fd503333d2250c57a0e50137c200c788f4fe8faa --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json @@ -0,0 +1,54 @@ +{ + "episode_index": 387, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue playingcards box and move it farther outward.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 89, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..ef0464cdb9432474900e7c0c50dd3377abe8e11a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json @@ -0,0 +1,54 @@ +{ + "episode_index": 388, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the glossy rectangular playingcards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..fc21324d934b16adc04d136c2e249b15a9d9a96e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json @@ -0,0 +1,54 @@ +{ + "episode_index": 389, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and move it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..0934263a3c2262eebac64a1310a6ea6a01ddc6c6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json @@ -0,0 +1,54 @@ +{ + "episode_index": 390, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box with cards inside and move it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..dc294c200ac157a008aa4547b8337f14fed3d868 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json @@ -0,0 +1,54 @@ +{ + "episode_index": 391, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the blue and white playingcards packaging farther from the table using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..e8884d44978595ebc1789e37de9aa3a6bf1d61c8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json @@ -0,0 +1,54 @@ +{ + "episode_index": 392, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf1a84a168b730ab8bad3622b1441855c1a437c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json @@ -0,0 +1,54 @@ +{ + "episode_index": 393, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the left arm, lift the black box with rectangular shape and move it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d41b9e060fa8ff45f0eabe0d56ea1f31a21901 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json @@ -0,0 +1,54 @@ +{ + "episode_index": 394, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the hand-sized playingcards container outward by grabbing it with the right arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..5c2cc1f43a24f8dc510e363002aca429c3b815f1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json @@ -0,0 +1,54 @@ +{ + "episode_index": 395, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized box for playing cards using the left arm and transfer it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa860d16ba5bf4589f1dbc406be222ed601795c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json @@ -0,0 +1,54 @@ +{ + "episode_index": 396, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the compact red playingcards pack and move it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed149daea3823b1dfce054be45a01627e699434 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json @@ -0,0 +1,54 @@ +{ + "episode_index": 397, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the hand-sized playingcards container away from the table outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card 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mode 100644 index 0000000000000000000000000000000000000000..d83f79b21dc10239c4a7a86a285ee25014981999 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json @@ -0,0 +1,54 @@ +{ + "episode_index": 398, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards pack and move it away.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "left", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..d458228318c8b93be4d9cb95259e9b211b26bf9b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json @@ -0,0 +1,54 @@ +{ + "episode_index": 399, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards from the table and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..160b4b785714ee236b845660549b893876c1bf10 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json @@ -0,0 +1,54 @@ +{ + "episode_index": 400, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized box for playing cards off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..8c6683ffa1953623027d44b6c31ed775b6210ff4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json @@ -0,0 +1,54 @@ +{ + "episode_index": 401, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box and shift it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..78a7ad088a75f8f5387cfefe005acba10524c379 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json @@ -0,0 +1,54 @@ +{ + "episode_index": 402, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box with the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..872be27c43be9d437dfc370d1af2cfb1b796b144 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json @@ -0,0 +1,54 @@ +{ + "episode_index": 403, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs away from its position on the table.", + "num_frames": 128, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 89, + "end_frame": 122, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "right", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 115, + "arm": "right", + "kind": "open", + "start_frame": 108, + "end_frame": 122 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..e1be4faf643080b140aaa331be392846f4c0f147 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json @@ -0,0 +1,54 @@ +{ + "episode_index": 404, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..4d505b273c6f52cee9e6979ffb5599077e3d7d48 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json @@ -0,0 +1,54 @@ +{ + "episode_index": 405, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box of playingcards using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3030a87802291b64354b256c7dc46abd28e604 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json @@ -0,0 +1,54 @@ +{ + "episode_index": 406, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b4e7afcdf4600e43c08bf97530976728b5c07a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json @@ -0,0 +1,54 @@ +{ + "episode_index": 407, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small black box with cards and place it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe3e5803ff53015d71d375d98e237a3666da2bb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json @@ -0,0 +1,54 @@ +{ + "episode_index": 408, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage from the table and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed87c66bd7c72f089bc702605eb493d15e3f4a7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json @@ -0,0 +1,54 @@ +{ + "episode_index": 409, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular playingcards case with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..4da89897e879e40fcfaa510192c40ac5afecbc22 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json @@ -0,0 +1,54 @@ +{ + "episode_index": 410, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa458646cb85813365098b87bb6fc01ba8eccbb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json @@ -0,0 +1,54 @@ +{ + "episode_index": 411, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the glossy rectangular playingcards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e7959f9c7943d41e6ca9a066d5cbfa2b64997a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json @@ -0,0 +1,54 @@ +{ + "episode_index": 412, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and shift it farther away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..da6be686b5df875fe80f430c5af405c7ac006569 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json @@ -0,0 +1,54 @@ +{ + "episode_index": 413, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the small playingcards pack and move it outward from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..b158589acea9c0840363c21ba4fa6a73a29a2012 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json @@ -0,0 +1,54 @@ +{ + "episode_index": 414, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container and set it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf995c23387bf1eb0957c90b5d865325576db2d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json @@ -0,0 +1,54 @@ +{ + "episode_index": 415, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and take it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..dd2ddb894f1368b3e562dcc225ffc27e99c3a155 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json @@ -0,0 +1,54 @@ +{ + "episode_index": 416, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the playingcards box with white symbols and move it away.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 115, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..a4ef985d521c369ce20399a1cb2e83d0163897e9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json @@ -0,0 +1,54 @@ +{ + "episode_index": 417, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box for playingcards outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..adb4cf97f216f242edd3de64f8c4f3a6978ca4c3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json @@ -0,0 +1,54 @@ +{ + "episode_index": 418, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the box of playingcards off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..f260edfb5707d47443dc35a2b4296d46c371c8a4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json @@ -0,0 +1,54 @@ +{ + "episode_index": 419, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it beyond the table.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 89, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 90, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac7787daa3cb8d104af40660e5f49c613abf92f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json @@ -0,0 +1,54 @@ +{ + "episode_index": 420, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box with cards inside outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3b73dba08db9a44ef6e3ccba3293d8a5c68824 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json @@ -0,0 +1,54 @@ +{ + "episode_index": 421, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards pack with blue top and slide it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..cd49d8dcdadb957065f4c818f61a96e56a9d5c11 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json @@ -0,0 +1,54 @@ +{ + "episode_index": 422, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards pack with blue top and place it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..cdcc60e23e9e36cb1d692b9bb37e4e51db3ec9f4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json @@ -0,0 +1,54 @@ +{ + "episode_index": 423, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the small playingcards pack and move it away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..be8cb64c111ac3e3dbfb25a5a6e68573417780b4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json @@ -0,0 +1,54 @@ +{ + "episode_index": 424, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the palm-sized box for playing cards and shift it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..50c9e570621becabaaf7e8d4a157998e9487137a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json @@ -0,0 +1,54 @@ +{ + "episode_index": 425, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the glossy rectangular playingcards box farther outward using the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..16ca8702fde0f01d3171215cf1fcbc34b55c3c54 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json @@ -0,0 +1,54 @@ +{ + "episode_index": 426, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box and shift it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..646f1389de3bfb229481e5188d2f1d4692d80bc0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json @@ -0,0 +1,54 @@ +{ + "episode_index": 427, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red and yellow playingcards case and place it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..b2d0160a0891e468105b9e4342799dd88d56b25d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json @@ -0,0 +1,54 @@ +{ + "episode_index": 428, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards pack with blue top and place it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..d410199af4378988cb53a35c20b2237bd7207bf8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json @@ -0,0 +1,54 @@ +{ + "episode_index": 429, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the cardboard playing cards box and move it outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..2f7fe8eeb97239666301bc5e922213334fd05026 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json @@ -0,0 +1,54 @@ +{ + "episode_index": 430, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and shift it farther away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..881253157221d0080f614a1953e95a5ebf052cb8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json @@ -0,0 +1,54 @@ +{ + "episode_index": 431, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the black box with rectangular shape outward by grabbing it with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..a5daa45dec51df2af748562bc939880d13986f78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json @@ -0,0 +1,54 @@ +{ + "episode_index": 432, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black playing cards box and place it beyond the table.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "right", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..6978a28536f036078d0a161c59cd331ce0c1d5b2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json @@ -0,0 +1,54 @@ +{ + "episode_index": 433, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular playingcards case outward by grabbing it with the left arm.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..718059653855deba3741e0fd59dd3befb9d383da --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json @@ -0,0 +1,54 @@ +{ + "episode_index": 434, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6837daf6b5a7ff05ac6df08af369f412c70611 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json @@ -0,0 +1,54 @@ +{ + "episode_index": 435, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards holder and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..ed43aba5bd977c5de79493eb3f704a857d01bdae --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json @@ -0,0 +1,54 @@ +{ + "episode_index": 436, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..228bc1659796250f25a569dfdf00da7750cc8cf2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json @@ -0,0 +1,54 @@ +{ + "episode_index": 437, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the palm-sized box for playing cards and move it farther outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7800a75419406f09fcf9ee1e7eb9acc0eca211 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json @@ -0,0 +1,54 @@ +{ + "episode_index": 438, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the blue playingcards box and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..1caf36ffc889ddbe2fd45fdbf6642d54ad34db55 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json @@ -0,0 +1,54 @@ +{ + "episode_index": 439, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the blue playingcards box outward from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1f1208d063af852b9c03752fc618c534c893f2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json @@ -0,0 +1,54 @@ +{ + "episode_index": 440, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside and shift it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..a996f20b0c01e5508a1873bcf259b8e6eb956e44 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json @@ -0,0 +1,54 @@ +{ + "episode_index": 441, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box using the right arm and transfer it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..3b7c8561e5a259e2e30f3d08648d268b323b231a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json @@ -0,0 +1,54 @@ +{ + "episode_index": 442, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards storage box using the left arm and push it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..6deca83243305dcff3f913c3e1d2fa0715a48a95 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json @@ -0,0 +1,54 @@ +{ + "episode_index": 443, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the left arm, lift the hand-sized playingcards container and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..ec2fd337c6d47a9ff23fe7d9fe40a3789324e11f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json @@ -0,0 +1,54 @@ +{ + "episode_index": 444, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..08b11d495cf0c28d7ac27570c8e52e0eb29a8585 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json @@ -0,0 +1,54 @@ +{ + "episode_index": 445, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and push it further away.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 81, + "end_frame": 115, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..f269563fa59560151d1021044c94dae51eaf6feb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json @@ -0,0 +1,54 @@ +{ + "episode_index": 446, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and slide it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..691c89bf43118409d44b41cd78fb228121f92c97 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json @@ -0,0 +1,54 @@ +{ + "episode_index": 447, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact box for playing cards with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..483b13eedc2b5f8b2bd3649873d79313fe82af1d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json @@ -0,0 +1,54 @@ +{ + "episode_index": 448, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..9afb49d8338e7afce2f8ccb1ba28c91429c515ab --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json @@ -0,0 +1,54 @@ +{ + "episode_index": 449, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container and move it away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..9c1e6805b8be8f097628a6292a10f3b5ce9dfbec --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json @@ -0,0 +1,54 @@ +{ + "episode_index": 450, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..3d67481bcf59888284a5b695feb076a99ac8927c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json @@ -0,0 +1,54 @@ +{ + "episode_index": 451, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards and relocate it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..01329b70b1476b634f0fec8ccd1fac73d4dffeaf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json @@ -0,0 +1,54 @@ +{ + "episode_index": 452, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and place it farther away with the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..5a070f87503756cd1b72e87c402f5b4aeed60838 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json @@ -0,0 +1,54 @@ +{ + "episode_index": 453, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the small playingcards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..db28531264f1e74bac84972e4c8dab025eac92b8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json @@ -0,0 +1,54 @@ +{ + "episode_index": 454, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue and white playingcards packaging using the right arm and move it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd8f347d463af3008e0e8b937087f9ccce6276e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json @@ -0,0 +1,54 @@ +{ + "episode_index": 455, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape using the right arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..56b0b2f1cf2fdc2edecb45b15e9828ae9ddf51e4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json @@ -0,0 +1,54 @@ +{ + "episode_index": 456, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the glossy rectangular playingcards box with the right arm and move it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 112, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..f394affa6991b7b0a8f4dc6699a5fee23fd5d9db --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json @@ -0,0 +1,54 @@ +{ + "episode_index": 457, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the hand-sized playingcards container and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..86a65cace8132d815b00216ffe2b77d1fc1acb38 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json @@ -0,0 +1,54 @@ +{ + "episode_index": 458, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the box for playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..bd13eca46a2098160627a38bc46d724528a26903 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json @@ -0,0 +1,54 @@ +{ + "episode_index": 459, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the smooth playingcards holder away from the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..da241740cab00b9e81b79a069d6e73d4f86122ba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json @@ -0,0 +1,54 @@ +{ + "episode_index": 460, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and slide it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..3e932791db9fa95559512c8e2c6158b19c0375e7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json @@ -0,0 +1,54 @@ +{ + "episode_index": 461, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the box for playingcards and push it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..d823e5fd122b884c07a0944f07f48e4a5a6ecc38 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json @@ -0,0 +1,54 @@ +{ + "episode_index": 462, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the glossy rectangular playingcards box using the right arm and transfer it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..1df5a51ec847a6e73c9db94379cdf04db0e4e13a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json @@ -0,0 +1,54 @@ +{ + "episode_index": 463, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black box with rectangular shape using the right arm and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..14d2f119c29c32c2fea733f9113f3d9c43c77b5a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json @@ -0,0 +1,54 @@ +{ + "episode_index": 464, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the rectangular box for card storage off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..d8ddf237eb75c8f5f93338c10d7d6be1ad4d172d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json @@ -0,0 +1,54 @@ +{ + "episode_index": 465, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the rectangular playingcards case and place it beyond the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..57a373eee515222f5ce4e31606e01a1d61236e3b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json @@ -0,0 +1,54 @@ +{ + "episode_index": 466, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards storage box farther from the table using the right arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..29ed84dfa14c7a6564b58114eb405c93ae0fe0a3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json @@ -0,0 +1,54 @@ +{ + "episode_index": 467, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the palm-sized box for playing cards and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..e85b5ce5f315cf65dd145869a1e78ce688cd441a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json @@ -0,0 +1,54 @@ +{ + "episode_index": 468, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact box for playing cards further outward after picking it up.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..1432fac764d385cf872c849b0b6db7584948a728 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json @@ -0,0 +1,54 @@ +{ + "episode_index": 469, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container and place it farther away with the right arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..d3ccddd23ec915271d94272c5bab78bd588dfc3a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json @@ -0,0 +1,54 @@ +{ + "episode_index": 470, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue pack holding playingcards and push it further away.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..1478dc5ee78d47386c9b374651e866ccb0019c36 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json @@ -0,0 +1,54 @@ +{ + "episode_index": 471, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the small playingcards container off the table outward.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 114, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..9d6676811c29cd3ae79606342019945a7cc8afe4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json @@ -0,0 +1,54 @@ +{ + "episode_index": 472, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards pack with blue top and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..af0ed93d3dd9e64c65785ab46196b6d383762957 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json @@ -0,0 +1,54 @@ +{ + "episode_index": 473, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box of playingcards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..1b90bfd746e91824c5b7632f81c9ba2ad4e3ac5d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json @@ -0,0 +1,54 @@ +{ + "episode_index": 474, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the card box with golden designs and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cca4bebe3d33b47062b114b4285a68f04ba8cf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json @@ -0,0 +1,54 @@ +{ + "episode_index": 475, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..07434827ee2b6c04f4cbe0ed5d4cc509b8f64767 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json @@ -0,0 +1,54 @@ +{ + "episode_index": 476, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the card box with golden designs off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7b484782298fef92056f8a5a2f85036401ca51 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json @@ -0,0 +1,54 @@ +{ + "episode_index": 477, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small black box with cards and slide it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..bd29b9349571a6b3e9e8cea692f15fa293964735 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json @@ -0,0 +1,54 @@ +{ + "episode_index": 478, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the blue and white playingcards packaging and move it aside.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 115, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..e0abe0a9e7a3ad3dee3f8aa0087e7f5ca7ebd3c0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json @@ -0,0 +1,54 @@ +{ + "episode_index": 479, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and relocate it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..f0394af3eded174a53992ff6caa6d0dc8614398d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json @@ -0,0 +1,54 @@ +{ + "episode_index": 480, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..da47889d4dae48f3b21f8b4ba01740b213a03d61 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json @@ -0,0 +1,54 @@ +{ + "episode_index": 481, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case using the right arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..29ea64d2735b91d92bc44455095ba576b114e9e0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json @@ -0,0 +1,54 @@ +{ + "episode_index": 482, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and set it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6604c1563959190fe0381c7678a8088d3b2f0d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json @@ -0,0 +1,54 @@ +{ + "episode_index": 483, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangle-shaped cards box and move it aside.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..460cf129fe81d77e853106b633d7c34a66c2d613 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json @@ -0,0 +1,54 @@ +{ + "episode_index": 484, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue playingcards box and move it away from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "left", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..e43d603770758b001f0821b8aacb0b9e465ccb95 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json @@ -0,0 +1,54 @@ +{ + "episode_index": 485, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards storage box and set it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box 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100644 index 0000000000000000000000000000000000000000..1ce7f848472069473f05fe7c6f769b8ed14e5c17 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json @@ -0,0 +1,54 @@ +{ + "episode_index": 486, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the palm-sized playingcards carton and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..c128851da12acb739e3f11ec03c5052227f035ba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json @@ -0,0 +1,54 @@ +{ + "episode_index": 487, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the cardboard playing cards box using the left arm and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 111, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..6c54014cec413ebf85a527345fef5979b2b23860 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json @@ -0,0 +1,54 @@ +{ + "episode_index": 488, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and push it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..6555b446ba75ea72e9b588d7caa55a1e9ceb0b2d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json @@ -0,0 +1,54 @@ +{ + "episode_index": 489, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangle-shaped cards box and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..feda44e6282aca71ce391536ca134ec992361c02 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json @@ -0,0 +1,54 @@ +{ + "episode_index": 490, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playing cards box with gold text further outward after picking it up.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 112, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..707a17ff1ee90480f0c2fd26019203eb81d0835d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json @@ -0,0 +1,54 @@ +{ + "episode_index": 491, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box for playingcards and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..354d9082c60d438f7787e8dfef5478a1d179195a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json @@ -0,0 +1,54 @@ +{ + "episode_index": 492, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards using the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..407e91349ba7623c97c59f54d6dad704bd7395f4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json @@ -0,0 +1,54 @@ +{ + "episode_index": 493, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the small playingcards pack and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..e17a52b1efb4f7a177fb6c711513ae257c80948f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json @@ -0,0 +1,54 @@ +{ + "episode_index": 494, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards from the table and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 111, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..7557d1119c5dbc5a8da02b647265cce3883b961b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json @@ -0,0 +1,54 @@ +{ + "episode_index": 495, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular blue playingcards case from the table and shift it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 113, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..41e625dd0fad4cf0b87f25d164f0b79b1ca200db --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json @@ -0,0 +1,54 @@ +{ + "episode_index": 496, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the small playingcards pack and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..c1beea41e3edd570c512a40c30c8ce4e4a9f6ad5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json @@ -0,0 +1,54 @@ +{ + "episode_index": 497, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 109, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..23ade09e98dca87a2bbf9617702f159f5056f644 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json @@ -0,0 +1,54 @@ +{ + "episode_index": 498, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the yellow and red playingcards box outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..ebbe8687352da28b730ba9d8c3762d714be22317 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json @@ -0,0 +1,54 @@ +{ + "episode_index": 499, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the playingcards box with white accents and slide it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the playing card box.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the playing card box away from its initial position.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + } + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000000.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..63ef7d679b3efdfc117928e3ddadb826c0327912 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000000.json @@ -0,0 +1,47 @@ +{ + "episode_index": 0, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the box for playingcards and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000001.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0e583086e2690b7c7cb5a9bb558bac40215257ac --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000001.json @@ -0,0 +1,47 @@ +{ + "episode_index": 1, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the playingcards box with white symbols and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000002.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e67489068e84327435b95e9ca75f3631c7bd7273 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000002.json @@ -0,0 +1,47 @@ +{ + "episode_index": 2, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside from the table and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000003.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e2e3d9fd5039a22d74746c363f7a6f3d12532c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000003.json @@ -0,0 +1,47 @@ +{ + "episode_index": 3, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the small playingcards container and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000004.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..bed9f108531944a1c3bcbd58e0f6bfc6cae6db23 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000004.json @@ -0,0 +1,47 @@ +{ + "episode_index": 4, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards box with white accents and relocate it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000005.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..d4cd2d4dd714c7d6e0d76b24cd8f0c72f781273d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000005.json @@ -0,0 +1,47 @@ +{ + "episode_index": 5, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the box with cards inside away from the table outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000006.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..41a5e748db83f2004b854d8a394d861567f035ba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000006.json @@ -0,0 +1,47 @@ +{ + "episode_index": 6, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact box for playing cards using the left arm and transfer it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000007.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd94f1709d4c2640849df79099eff590cdb0a1c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000007.json @@ -0,0 +1,47 @@ +{ + "episode_index": 7, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue pack holding playingcards and place it further away.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 111, + "arm": "left", + "kind": "open", + "start_frame": 104, + "end_frame": 118 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000008.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c71e3e7e55ea2178de1d5d287ff09dc39daa4f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000008.json @@ -0,0 +1,47 @@ +{ + "episode_index": 8, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red playingcards box with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000010.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..3591e88a2cb2d5828b03f4bb5b5c5b3e45073750 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000010.json @@ -0,0 +1,47 @@ +{ + "episode_index": 10, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000011.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..b30b0663644f4b8488a821120cef3a26c33b0cb9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000011.json @@ -0,0 +1,47 @@ +{ + "episode_index": 11, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular blue playingcards case outward by grabbing it with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000012.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..f81bd16ecde65ffa0115ba58a659bcadb4aba906 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000012.json @@ -0,0 +1,47 @@ +{ + "episode_index": 12, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000013.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..9e444e8b42ffae3945687316821baa69ee0cf545 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000013.json @@ -0,0 +1,47 @@ +{ + "episode_index": 13, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue and white playingcards packaging with the left arm and move it outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000014.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..3610e96ac900c724297c8eb508730d51efa4961d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000014.json @@ -0,0 +1,47 @@ +{ + "episode_index": 14, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and shift it farther away from the table.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000015.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..4afc5de525f72f5f130e0cdca7f27848f5773a67 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000015.json @@ -0,0 +1,47 @@ +{ + "episode_index": 15, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000016.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..60568d197b6779893137f48d61b4b4587f524ac6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000016.json @@ -0,0 +1,47 @@ +{ + "episode_index": 16, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000017.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..db4730e51a16c43fe26376dd09e067b4d0e6e8b3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000017.json @@ -0,0 +1,47 @@ +{ + "episode_index": 17, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and push it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000018.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..1d1915ae3861806971ea093fb308fb095e1ed46b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000018.json @@ -0,0 +1,47 @@ +{ + "episode_index": 18, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.", + "num_frames": 122, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000019.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..5cc9d721c8f2902833fcd29fbf5db8548a43b2c2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000019.json @@ -0,0 +1,47 @@ +{ + "episode_index": 19, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards box with white symbols and place it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000020.json @@ -0,0 +1,47 @@ +{ + "episode_index": 20, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the smooth playingcards pack and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000021.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f51f674010767490d83262894541b7e03c800f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000021.json @@ -0,0 +1,47 @@ +{ + "episode_index": 21, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards with the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000022.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..68d5a674b2c23088d1057424c15f9891f428c2e8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000022.json @@ -0,0 +1,47 @@ +{ + "episode_index": 22, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the small playingcards pack off the table outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000023.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..86236716ebabca5ac22b6edd1d0f4f702b2fdec5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000023.json @@ -0,0 +1,47 @@ +{ + "episode_index": 23, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the blue pack holding playingcards and move it outward from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "left", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000024.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..1fc6c26406316b2bf57e1f58a66fc0cd71a4a63c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000024.json @@ -0,0 +1,47 @@ +{ + "episode_index": 24, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000025.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..bee448d6eeac1d64f7d6f02b579995bba7987caf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000025.json @@ -0,0 +1,47 @@ +{ + "episode_index": 25, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the blue carton for playingcards off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000026.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..7b39a30224b2416b20b4d81ed62464e09faa2a8a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000026.json @@ -0,0 +1,47 @@ +{ + "episode_index": 26, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the smooth black cards container outward after grabbing it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000027.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad6264097cf645363401d2af3140b043b096723 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000027.json @@ -0,0 +1,47 @@ +{ + "episode_index": 27, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack using the left arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000028.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..dfad1d2e96bc111adb535142969e9b9b62e7145c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000028.json @@ -0,0 +1,47 @@ +{ + "episode_index": 28, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the red and yellow playingcards case and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000029.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..77023e0ed610369d677924bb4aadc4d8300c4e60 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000029.json @@ -0,0 +1,47 @@ +{ + "episode_index": 29, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized playingcards carton off the table to the side.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000030.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8998c6108506be1e4f352cabde49d410b2dbca --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000030.json @@ -0,0 +1,47 @@ +{ + "episode_index": 30, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000031.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b2a62a66294a5c5f7ba2764bddb7525e5e22ff --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000031.json @@ -0,0 +1,47 @@ +{ + "episode_index": 31, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000032.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..e139bd4e3d239e7ebf55b8fd8416f748e61ae5d8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000032.json @@ -0,0 +1,47 @@ +{ + "episode_index": 32, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs with the left arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000033.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..bbf478fae3d8303cc8653308fb088667e45141b4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000033.json @@ -0,0 +1,47 @@ +{ + "episode_index": 33, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and take it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000034.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..e9b2756614e903ba4221bd17d0195b7842e1daac --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000034.json @@ -0,0 +1,47 @@ +{ + "episode_index": 34, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangular blue playingcards case and move it aside.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000035.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..5f15f73dcfdbdffae0004523856ee09a81bb81f2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000035.json @@ -0,0 +1,47 @@ +{ + "episode_index": 35, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container using the right arm and transfer it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000036.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..a6cda0ab5a5903d71bdbe1cbe64f0089b99cad25 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000036.json @@ -0,0 +1,47 @@ +{ + "episode_index": 36, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue and white playingcards packaging and move it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000037.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..a1d36c4d9e30a55fcadf4e8398f34d2722287180 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000037.json @@ -0,0 +1,47 @@ +{ + "episode_index": 37, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000038.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..02b6111449e66d67796b9792d8636db3e9b94bf9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000038.json @@ -0,0 +1,47 @@ +{ + "episode_index": 38, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000039.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..7d8d6012d7999092105c9450267e78c30400de81 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000039.json @@ -0,0 +1,47 @@ +{ + "episode_index": 39, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the yellow and red playingcards box and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000040.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..ed335ef7f12dd2c393516ca7c4dd313f68cdf05e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000040.json @@ -0,0 +1,47 @@ +{ + "episode_index": 40, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular playingcards case and place it further away.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 111, + "arm": "right", + "kind": "open", + "start_frame": 104, + "end_frame": 118 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000041.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..b6572d17db3d2fc9dccc45da30401ee426e0c6e9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000041.json @@ -0,0 +1,47 @@ +{ + "episode_index": 41, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000042.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..edafe32442ea176c2495c8de107eb447f48e1ce4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000042.json @@ -0,0 +1,47 @@ +{ + "episode_index": 42, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue pack holding playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000043.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..33631f4fcfcf814b65063d9b0764e684a74318e8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000043.json @@ -0,0 +1,47 @@ +{ + "episode_index": 43, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the small playingcards pack farther outward using the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000044.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..e580cb1b8a978cf16ca5dc00ed1c00c697a4bb77 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000044.json @@ -0,0 +1,47 @@ +{ + "episode_index": 44, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton using the right arm and transfer it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "right", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000045.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..f42c876215f8dcd3db4d75a44724dc31f0bae141 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000045.json @@ -0,0 +1,47 @@ +{ + "episode_index": 45, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box with cards inside away from its position on the table.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000046.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0ee71e25370482529f71fea81f8c74a25a3bc4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000046.json @@ -0,0 +1,47 @@ +{ + "episode_index": 46, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards pack and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000047.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..33d83b5c41bec49481c6cc0fd42115ceba5275ca --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000047.json @@ -0,0 +1,47 @@ +{ + "episode_index": 47, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the playingcards storage box and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000048.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..027f1aa664c1a8078bfec41ed3274544aca2c0c2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000048.json @@ -0,0 +1,47 @@ +{ + "episode_index": 48, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the yellow and red playingcards box and shift it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000049.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..60af9f2c1b065ddb4dcce8118a19f88bbe254a22 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000049.json @@ -0,0 +1,47 @@ +{ + "episode_index": 49, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000050.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..c4dbbf9acfcb60d456fb2c3bdf2b89bc17af7d94 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000050.json @@ -0,0 +1,47 @@ +{ + "episode_index": 50, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container from the table and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000051.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..37a6de9f92584f50bdf5ddb6524578800c18456e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000051.json @@ -0,0 +1,47 @@ +{ + "episode_index": 51, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box from the table and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000052.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..b282fe9a76593e77562c75f456624553d9548352 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000052.json @@ -0,0 +1,47 @@ +{ + "episode_index": 52, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and push it off the table.", + "num_frames": 140, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000053.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..1a9888e3881f3d10d83da45785babc5994b32695 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000053.json @@ -0,0 +1,47 @@ +{ + "episode_index": 53, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the box with cards inside and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000054.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb0873290d9284246a46397c13370d14ee90b1f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000054.json @@ -0,0 +1,47 @@ +{ + "episode_index": 54, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and shift it farther away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000055.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..69b7e3c06be3b7368c30d8bc784543543d034832 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000055.json @@ -0,0 +1,47 @@ +{ + "episode_index": 55, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs away from its position on the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000056.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..f8d83e09b37defc6abf59e52143c34116677d255 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000056.json @@ -0,0 +1,47 @@ +{ + "episode_index": 56, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the blue carton for playingcards and move it aside.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000057.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..67c16a319e983be44182a6426da5be851952f5ed --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000057.json @@ -0,0 +1,47 @@ +{ + "episode_index": 57, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000058.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..a074e529663202f74adc45546a3affade91ab561 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000058.json @@ -0,0 +1,47 @@ +{ + "episode_index": 58, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact box for playing cards and push it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000059.json @@ -0,0 +1,47 @@ +{ + "episode_index": 59, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards pack from the table and shift it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000061.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..8bffea8818db2589ed5ed6fc5e494ffe929f5ae6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000061.json @@ -0,0 +1,47 @@ +{ + "episode_index": 61, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the glossy rectangular playingcards box and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000062.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..6e562905089448a5b3f8b68107a8a5f1b96f5e40 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000062.json @@ -0,0 +1,47 @@ +{ + "episode_index": 62, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box and move it outward from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000063.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..af38b678f27aec8e6e21b3b6f1dbad756c3a6eab --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000063.json @@ -0,0 +1,47 @@ +{ + "episode_index": 63, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the card box with golden designs from the table and move it outward.", + "num_frames": 117, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000064.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..c7547bc88f564ea1cca6f2e5c97823b79132ac10 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000064.json @@ -0,0 +1,47 @@ +{ + "episode_index": 64, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000065.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca7ff8b9ea3230841be39ffe6e55d8a70ac461b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000065.json @@ -0,0 +1,47 @@ +{ + "episode_index": 65, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case and move it farther outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000066.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..6a36ec71aea520390acc4eab0a2a576c29771ced --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000066.json @@ -0,0 +1,47 @@ +{ + "episode_index": 66, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000067.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..d6857c90a498edf548f20a114c0de86f1b160ee5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000067.json @@ -0,0 +1,47 @@ +{ + "episode_index": 67, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards pack with blue top off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000068.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..7160bd16ed9d718d41602f270fdef06faac63c45 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000068.json @@ -0,0 +1,47 @@ +{ + "episode_index": 68, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box using the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000069.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..40e923e432b53833ec42ae00f4ff78f48f8df4c8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000069.json @@ -0,0 +1,47 @@ +{ + "episode_index": 69, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue pack holding playingcards and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000070.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..004aeb1750be3fdb564dceba7410619615c55308 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000070.json @@ -0,0 +1,47 @@ +{ + "episode_index": 70, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards and relocate it off the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000071.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..39b25415c21d27e4c19709543b934e8e16d588fc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000071.json @@ -0,0 +1,47 @@ +{ + "episode_index": 71, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and push it off the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000072.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..73872c7e8ecac699b0dc55a7da56bd935ddfdcc3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000072.json @@ -0,0 +1,47 @@ +{ + "episode_index": 72, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the rectangular box for card storage and slide it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000073.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6b60b8881bc9a6d20db932c9469ca08d98e562 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000073.json @@ -0,0 +1,47 @@ +{ + "episode_index": 73, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the red and yellow playingcards case and move it aside.", + "num_frames": 123, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "right", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 110, + "arm": "right", + "kind": "open", + "start_frame": 103, + "end_frame": 117 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000074.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..3f680dbbc309ab06584178d59609d57535ac9892 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000074.json @@ -0,0 +1,47 @@ +{ + "episode_index": 74, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the small playingcards pack and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000075.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..216aee5412f255a8f643e496532bbf5a10899ac5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000075.json @@ -0,0 +1,47 @@ +{ + "episode_index": 75, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the hand-sized playingcards container and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000076.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..13efe09e8f05021a3a10e21fea9574a0a5839777 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000076.json @@ -0,0 +1,47 @@ +{ + "episode_index": 76, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the box for playingcards and push it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000077.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..e20b07ca16f78e8c7648f661286b00a97554972e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000077.json @@ -0,0 +1,47 @@ +{ + "episode_index": 77, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the yellow and red playingcards box off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000078.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..61df5631710654cb18f05bd443d45c314a7f16b8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000078.json @@ -0,0 +1,47 @@ +{ + "episode_index": 78, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white accents outward after grabbing it.", + "num_frames": 122, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000079.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..dac457e8d350221cb7a0ee86a092c8dd9436d130 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000079.json @@ -0,0 +1,47 @@ +{ + "episode_index": 79, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the right arm, lift the playingcards box with white accents and move it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000080.json @@ -0,0 +1,47 @@ +{ + "episode_index": 80, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the glossy rectangular playingcards box using the right arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000082.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..2f93e14ae52af273c3c4574b99395fa52fc7218f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000082.json @@ -0,0 +1,47 @@ +{ + "episode_index": 82, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000083.json @@ -0,0 +1,47 @@ +{ + "episode_index": 83, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000084.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..a56552a2b8309b123e5a970375b584a1bbc74794 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000084.json @@ -0,0 +1,47 @@ +{ + "episode_index": 84, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playing cards box with gold text and move it away from the table.", + "num_frames": 118, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000085.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..378c068e1941877bc42fca7cb2a8c4009e2a6c0d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000085.json @@ -0,0 +1,47 @@ +{ + "episode_index": 85, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards box with white symbols further outward after picking it up.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000086.json @@ -0,0 +1,47 @@ +{ + "episode_index": 86, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000088.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..ece93e4fe318ac4da8908d2b09be8ee046761079 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000088.json @@ -0,0 +1,47 @@ +{ + "episode_index": 88, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage using the left arm and push it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000089.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..48c867d4568de6c4453ad311ecdc76f0f6a3142a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000089.json @@ -0,0 +1,47 @@ +{ + "episode_index": 89, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red and yellow playingcards case and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000090.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..37e7df9310d682bdfb16fb696e204a25be2d0126 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000090.json @@ -0,0 +1,47 @@ +{ + "episode_index": 90, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000091.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..df0cfd8d012ccab92982327044a17cbe41a9a98e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000091.json @@ -0,0 +1,47 @@ +{ + "episode_index": 91, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the rectangular blue playingcards case farther outward using the left arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000092.json @@ -0,0 +1,47 @@ +{ + "episode_index": 92, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000093.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..3bffb25981ee150a5f3575e98680cf2b93d5dd66 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000093.json @@ -0,0 +1,47 @@ +{ + "episode_index": 93, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the small playingcards container off the table to the side.", + "num_frames": 116, + "subtasks": [ 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000094.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..830497e782ab9220f1b30437d028ab5b05a5121e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000094.json @@ -0,0 +1,47 @@ +{ + "episode_index": 94, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards storage box and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000095.json @@ -0,0 +1,47 @@ +{ + "episode_index": 95, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and move it further outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 112, + "arm": "left", + "kind": "open", + "start_frame": 105, + "end_frame": 119 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000096.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6a1681d0ecad576ad938ae949e59f87c143b78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000096.json @@ -0,0 +1,47 @@ +{ + "episode_index": 96, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000097.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..caeeb70e02d5a1b422971bfb80ee08dee1a90cce --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000097.json @@ -0,0 +1,47 @@ +{ + "episode_index": 97, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the palm-sized box for playing cards and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000098.json @@ -0,0 +1,47 @@ +{ + "episode_index": 98, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000099.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..e63eb1b0dfdd8494a66d3ca4a942ddcc6b7b4e8d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000099.json @@ -0,0 +1,47 @@ +{ + "episode_index": 99, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols and set it beyond the table.", + "num_frames": 119, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000100.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e925a28ae82cd266edcede4efdd7561de89301 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000100.json @@ -0,0 +1,47 @@ +{ + "episode_index": 100, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white symbols off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000101.json @@ -0,0 +1,47 @@ +{ + "episode_index": 101, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000102.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..27d011bf56f6205958ec4b95c1cc6b13fe63a64f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000102.json @@ -0,0 +1,47 @@ +{ + "episode_index": 102, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the hand-sized playingcards container farther from the table using the left arm.", + "num_frames": 116, + "subtasks": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000103.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..1576093f18477715e049c23fe2bcacfd42248455 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000103.json @@ -0,0 +1,47 @@ +{ + "episode_index": 103, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000104.json @@ -0,0 +1,47 @@ +{ + "episode_index": 104, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the red and yellow playingcards case and move it away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000105.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..311f35c7d284d34fb87db3a93212f6ad284597fb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000105.json @@ -0,0 +1,47 @@ +{ + "episode_index": 105, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000106.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..762fa21ce0a89a4ebcb6beb7b390e28a483c1856 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000106.json @@ -0,0 +1,47 @@ +{ + "episode_index": 106, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000107.json @@ -0,0 +1,47 @@ +{ + "episode_index": 107, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the smooth black cards container and push it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000108.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..769a248f09390d95e6fa17b0cac54fcb5d52c805 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000108.json @@ -0,0 +1,47 @@ +{ + "episode_index": 108, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact red playingcards pack and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000109.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..79fdce61a0c4f47747f6a84192b88ce16ada9583 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000109.json @@ -0,0 +1,47 @@ +{ + "episode_index": 109, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the glossy rectangular playingcards box with the left arm and place it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000110.json @@ -0,0 +1,47 @@ +{ + "episode_index": 110, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000111.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..651d99564ee495057e221b54dbc76cd424f52cd3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000111.json @@ -0,0 +1,47 @@ +{ + "episode_index": 111, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards with the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000112.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..586386e45cddeed384a9151fcdf49706ff15a337 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000112.json @@ -0,0 +1,47 @@ +{ + "episode_index": 112, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box and take it away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000113.json @@ -0,0 +1,47 @@ +{ + "episode_index": 113, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and set it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000114.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..de8958ee34e8b0d4ef7181ff5e83a67c83bbefbd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000114.json @@ -0,0 +1,47 @@ +{ + "episode_index": 114, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000115.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..6327c320d5fdd6610dc861e0c09dc09ead6607c2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000115.json @@ -0,0 +1,47 @@ +{ + "episode_index": 115, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the cardboard playing cards box with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000116.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..39dba741ed28f7f2b7daa9c056a4611904e7d731 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000116.json @@ -0,0 +1,47 @@ +{ + "episode_index": 116, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000117.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..428cd2d9e9ff922bc7491c96e5f26202c5e67f07 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000117.json @@ -0,0 +1,47 @@ +{ + "episode_index": 117, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000118.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..fbba1f688dcbe547b4118e1bf9a1cdfd1a8160f8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000118.json @@ -0,0 +1,47 @@ +{ + "episode_index": 118, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000119.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..5b978fa24df247738650ace5ca631956ca88f825 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000119.json @@ -0,0 +1,47 @@ +{ + "episode_index": 119, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the hand-sized playingcards container and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000120.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..4f41d16e4410577314f6bbb510407e8075b536ce --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000120.json @@ -0,0 +1,47 @@ +{ + "episode_index": 120, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the hand-sized playingcards container and move it away.", + "num_frames": 139, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000121.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..ce286f4d821fba5b7a8a02f4f772036d7acf2582 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000121.json @@ -0,0 +1,47 @@ +{ + "episode_index": 121, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and shift it farther away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000122.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..e78ae7a68228a55ec2ab2c875de1ae26b44acd45 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000122.json @@ -0,0 +1,47 @@ +{ + "episode_index": 122, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized playingcards carton off the table to the side.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": 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+ "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000124.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..350cd46b92c306473918b60be7c4eeec40bec72f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000124.json @@ -0,0 +1,47 @@ +{ + "episode_index": 124, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000125.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..9c67885d302139c6282016a6df1b1dc0917f513f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000125.json @@ -0,0 +1,47 @@ +{ + "episode_index": 125, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards pack with blue top with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000126.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..2f893aec987346575a212ae964f4dba3e494a4a5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000126.json @@ -0,0 +1,47 @@ +{ + "episode_index": 126, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000127.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..e9d85ab1df0be3454a66cdae143c665ad5183e4e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000127.json @@ -0,0 +1,47 @@ +{ + "episode_index": 127, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container and shift it further outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000128.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1138e5edefe4a05431bc2956ec79008de60a37 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000128.json @@ -0,0 +1,47 @@ +{ + "episode_index": 128, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the right arm, lift the small playingcards container and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000129.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..3f14a57e96903ccbcda2f8216f5240f507c74988 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000129.json @@ -0,0 +1,47 @@ +{ + "episode_index": 129, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case and relocate it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000130.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..d79ab50e3de84f5dad7d799a2ecf0c8b8022dfe9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000130.json @@ -0,0 +1,47 @@ +{ + "episode_index": 130, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the black box with rectangular shape farther outward using the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000131.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..371c48ac42c57c1accb5f0a71e28da122dea5632 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000131.json @@ -0,0 +1,47 @@ +{ + "episode_index": 131, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small playingcards container and push it off the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000132.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..8d98ec2a162a857d707800066471c34c9f0fb943 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000132.json @@ -0,0 +1,47 @@ +{ + "episode_index": 132, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular playingcards case and move it farther outward.", + "num_frames": 119, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000133.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..446c2880409a0fbbe020166371270fc3c66dee3f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000133.json @@ -0,0 +1,47 @@ +{ + "episode_index": 133, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000134.json @@ -0,0 +1,47 @@ +{ + "episode_index": 134, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000136.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..493e96487463a42b4c4de039b1c6fe2e911933a2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000136.json @@ -0,0 +1,47 @@ +{ + "episode_index": 136, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playing cards box with gold text and move it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000137.json @@ -0,0 +1,47 @@ +{ + "episode_index": 137, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the rectangular playingcards case and move it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000139.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..5ceb3f98f9727b0f9406c95140111020edca290e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000139.json @@ -0,0 +1,47 @@ +{ + "episode_index": 139, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and take it away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000140.json @@ -0,0 +1,47 @@ +{ + "episode_index": 140, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the yellow and red playingcards box away from its position on the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000141.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3606045cf357aea31acd0c8a432f0cbe42240c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000141.json @@ -0,0 +1,47 @@ +{ + "episode_index": 141, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the palm-sized box for playing cards and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000142.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fc59feca21a4a32dd20a412e2059bcf4f41e2e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000142.json @@ -0,0 +1,47 @@ +{ + "episode_index": 142, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the smooth playingcards pack farther outward using the right arm.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000143.json @@ -0,0 +1,47 @@ +{ + "episode_index": 143, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the glossy rectangular playingcards box outward after grabbing it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000145.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e3e6c5c3956347598190a8547bd6f66d048888 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000145.json @@ -0,0 +1,47 @@ +{ + "episode_index": 145, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000146.json @@ -0,0 +1,47 @@ +{ + "episode_index": 146, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the playingcards box with white accents off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000148.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..49b04f785e94493b11831c03d5a977adb2c44820 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000148.json @@ -0,0 +1,47 @@ +{ + "episode_index": 148, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards pack and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000149.json @@ -0,0 +1,47 @@ +{ + "episode_index": 149, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the card box with golden designs and move it aside.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000150.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..137ffe759fc78fff480162cd919383d488b49b14 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000150.json @@ -0,0 +1,47 @@ +{ + "episode_index": 150, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and shift it farther away from the table.", + "num_frames": 119, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000151.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..eca0b623717eab1abb0cc5851e333fb6875e33d6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000151.json @@ -0,0 +1,47 @@ +{ + "episode_index": 151, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the smooth black cards container and move it away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000152.json @@ -0,0 +1,47 @@ +{ + "episode_index": 152, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box for playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000154.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..fd893660224dbd4a148de1376ceeab2dfff4f0aa --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000154.json @@ -0,0 +1,47 @@ +{ + "episode_index": 154, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards using the left arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000155.json @@ -0,0 +1,47 @@ +{ + "episode_index": 155, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth black cards container and shift it farther away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "left", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000156.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..6087852be6b0d22bff8bac6cb98d95cf84aa72f4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000156.json @@ -0,0 +1,47 @@ +{ + "episode_index": 156, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the left arm and move it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000157.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..ecdb11788f24b4e59df88942930e48a086d6f01d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000157.json @@ -0,0 +1,47 @@ +{ + "episode_index": 157, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000158.json @@ -0,0 +1,47 @@ +{ + "episode_index": 158, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the palm-sized box for playing cards farther from the table using the right arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000159.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..483f8c07f34be391578d26c394e5d2f706bf0009 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000159.json @@ -0,0 +1,47 @@ +{ + "episode_index": 159, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box for playingcards and move it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000160.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..cd73cc6e55493e00bd790d9ee3d3a88861339cd8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000160.json @@ -0,0 +1,47 @@ +{ + "episode_index": 160, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the palm-sized playingcards carton using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000161.json @@ -0,0 +1,47 @@ +{ + "episode_index": 161, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape using the left arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000162.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..ca2909f3b1f997cd384b209209d8c5e3c5562fc2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000162.json @@ -0,0 +1,47 @@ +{ + "episode_index": 162, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular blue playingcards case with the left arm and move it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000163.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..1d6257fc3f5ed870fa64f3bc601ae7e7f4851ffa --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000163.json @@ -0,0 +1,47 @@ +{ + "episode_index": 163, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact red playingcards pack further outward after picking it up.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000164.json @@ -0,0 +1,47 @@ +{ + "episode_index": 164, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small playingcards pack and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000165.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..49bb27c1629348b147f866ccd2fe3739d55e90a4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000165.json @@ -0,0 +1,47 @@ +{ + "episode_index": 165, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact red playingcards pack and push it further away.", + "num_frames": 115, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000166.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5a4aba80a73523f9850dd5fe09590ff1c25530 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000166.json @@ -0,0 +1,47 @@ +{ + "episode_index": 166, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue and white playingcards packaging and move it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000167.json @@ -0,0 +1,47 @@ +{ + "episode_index": 167, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards container and shift it further outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000169.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1288bfaf8a45294ec3b4e4324f4897eaaafc36 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000169.json @@ -0,0 +1,47 @@ +{ + "episode_index": 169, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red and yellow playingcards case and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000170.json @@ -0,0 +1,47 @@ +{ + "episode_index": 170, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000172.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..f74f11d846fd01840a45067f38d82229d0e5e42d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000172.json @@ -0,0 +1,47 @@ +{ + "episode_index": 172, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangle-shaped cards box and set it beyond the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000173.json @@ -0,0 +1,47 @@ +{ + "episode_index": 173, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the small playingcards container and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000175.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff3929998903e25f4e0e75594ca6836f941c130 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000175.json @@ -0,0 +1,47 @@ +{ + "episode_index": 175, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box and place it farther away with the right arm.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000176.json @@ -0,0 +1,47 @@ +{ + "episode_index": 176, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards container and place it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000178.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..029c87213618d7325b408b683e45b867fc1b958b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000178.json @@ -0,0 +1,47 @@ +{ + "episode_index": 178, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the glossy rectangular playingcards box and set it away from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000179.json @@ -0,0 +1,47 @@ +{ + "episode_index": 179, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text using the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000180.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..39c151f1ceebbb89ed8211a15e43e43ccce7f803 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000180.json @@ -0,0 +1,47 @@ +{ + "episode_index": 180, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the palm-sized playingcards carton and push it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000181.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd876c9a441d7414e007ea4378e694f758e1dfd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000181.json @@ -0,0 +1,47 @@ +{ + "episode_index": 181, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box and move it further outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000182.json @@ -0,0 +1,47 @@ +{ + "episode_index": 182, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000183.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..949e2071a4a283692af0e5d9dee70f9a834b3ec4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000183.json @@ -0,0 +1,47 @@ +{ + "episode_index": 183, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box with cards inside using the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000184.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..5109f63e7b075665236660be383f51d838cb2925 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000184.json @@ -0,0 +1,47 @@ +{ + "episode_index": 184, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box of playingcards and slide it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000185.json @@ -0,0 +1,47 @@ +{ + "episode_index": 185, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized box for playing cards and slide it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000187.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..07691783f69ca0fe7ab599d4068547d616de8138 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000187.json @@ -0,0 +1,47 @@ +{ + "episode_index": 187, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and move it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000188.json @@ -0,0 +1,47 @@ +{ + "episode_index": 188, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the black box with rectangular shape farther outward using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000190.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..90084ef981a6db5b07e1375d607b21545fac5f9d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000190.json @@ -0,0 +1,47 @@ +{ + "episode_index": 190, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000191.json @@ -0,0 +1,47 @@ +{ + "episode_index": 191, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the red playingcards box outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000192.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..6595426e8460aafb79638ca302cdba81dc3d25bf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000192.json @@ -0,0 +1,47 @@ +{ + "episode_index": 192, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000193.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..78ace621e2c2bba7b7dff5bf77782a76d9c30657 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000193.json @@ -0,0 +1,47 @@ +{ + "episode_index": 193, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the cardboard playing cards box and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000194.json @@ -0,0 +1,47 @@ +{ + "episode_index": 194, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside and place it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000195.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..fb14cb91bc374476a6da4a5a6731f52999321d9c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000195.json @@ -0,0 +1,47 @@ +{ + "episode_index": 195, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000196.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..d953945604554eece72c8156b5443c5c4c89fcd9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000196.json @@ -0,0 +1,47 @@ +{ + "episode_index": 196, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue carton for playingcards off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000197.json @@ -0,0 +1,47 @@ +{ + "episode_index": 197, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small black box with cards farther from the table using the left arm.", + "num_frames": 123, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 110, + "arm": "left", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000199.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0ba1d2b1ea8b9880916cd5880510d4aa3272cf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000199.json @@ -0,0 +1,47 @@ +{ + "episode_index": 199, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the palm-sized playingcards carton off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000200.json @@ -0,0 +1,47 @@ +{ + "episode_index": 200, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder using the left arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000202.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..b60df673760da8453036360cf925c902f79bc79b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000202.json @@ -0,0 +1,47 @@ +{ + "episode_index": 202, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the rectangular playingcards case off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000203.json @@ -0,0 +1,47 @@ +{ + "episode_index": 203, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and move it farther outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000205.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..4ee41c49e750955ba3f5701812f61030d06201bd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000205.json @@ -0,0 +1,47 @@ +{ + "episode_index": 205, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000206.json @@ -0,0 +1,47 @@ +{ + "episode_index": 206, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue carton for playingcards and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000207.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc212dd8dbaeb1fbce8dd2b5bc2ec5d69dafd4b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000207.json @@ -0,0 +1,47 @@ +{ + "episode_index": 207, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 117, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000208.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9edd7558c24314549622d360f67700b18dc049 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000208.json @@ -0,0 +1,47 @@ +{ + "episode_index": 208, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playingcards storage box and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000209.json @@ -0,0 +1,47 @@ +{ + "episode_index": 209, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the rectangular box for card storage and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000210.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..5044e6176288065915875647ef15557a893da0f6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000210.json @@ -0,0 +1,47 @@ +{ + "episode_index": 210, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000211.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..da9f7bdbba880c3ffcf3d4b5ce0c376ff3773943 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000211.json @@ -0,0 +1,47 @@ +{ + "episode_index": 211, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the hand-sized playingcards container and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000212.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..0b5d294e63bbba740978349bfcb1981b57821d8b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000212.json @@ -0,0 +1,47 @@ +{ + "episode_index": 212, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the playing cards box with gold text and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000213.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bc500c1092c95ede4f24d665983e0e879329be --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000213.json @@ -0,0 +1,47 @@ +{ + "episode_index": 213, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and place it further outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000214.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..a155346e04a12ac09fe5774184aaa24d8f63ff9a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000214.json @@ -0,0 +1,47 @@ +{ + "episode_index": 214, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the card box with golden designs and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000215.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac290f995ef9e2f270b0640a3033200a0e5e937 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000215.json @@ -0,0 +1,47 @@ +{ + "episode_index": 215, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box of playingcards and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000216.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..5e18def58001ba06ee493d31c85e6dd6733c25c0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000216.json @@ -0,0 +1,47 @@ +{ + "episode_index": 216, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular blue playingcards case outward by grabbing it with the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000217.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..9611f1213fb2eea237d0c8b11b8c18910aa1178b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000217.json @@ -0,0 +1,47 @@ +{ + "episode_index": 217, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box holding playing cards and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000218.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..d04e32e20a0320bd5f67e51963d1ff923489c7ff --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000218.json @@ -0,0 +1,47 @@ +{ + "episode_index": 218, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the hand-sized playingcards container and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000219.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..80de8b4f0bee310b36e384218f1dab8df590c1b3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000219.json @@ -0,0 +1,47 @@ +{ + "episode_index": 219, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000220.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..f37b8a27342cbc2691f8368ccc4749c9b41b3c62 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000220.json @@ -0,0 +1,47 @@ +{ + "episode_index": 220, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white accents from the table and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000221.json @@ -0,0 +1,47 @@ +{ + "episode_index": 221, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the small playingcards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000223.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..ba589f8bed450dd8699df346e6b9343b05e28ba6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000223.json @@ -0,0 +1,47 @@ +{ + "episode_index": 223, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and move it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000224.json @@ -0,0 +1,47 @@ +{ + "episode_index": 224, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the box for playingcards and move it outward from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "right", + "kind": 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{ + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000226.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..87b56617cc064707f6c1cd3fe45cc0f136c936ad --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000226.json @@ -0,0 +1,47 @@ +{ + "episode_index": 226, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue carton for playingcards and push it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000227.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..9f21ef24949ddcacd4db0cc847ebb8f62df87695 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000227.json @@ -0,0 +1,47 @@ +{ + "episode_index": 227, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red and yellow playingcards case and place it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000228.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb2c739290706fa66a7e3367eabdfcab2aaa187 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000228.json @@ -0,0 +1,47 @@ +{ + "episode_index": 228, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small playingcards container outward from the table.", + "num_frames": 115, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000229.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..1410d3da25e21ee08a04632efa70b313fb374ca2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000229.json @@ -0,0 +1,47 @@ +{ + "episode_index": 229, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards using the right arm and move it outward.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000230.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..434e095d42af9e63095dbab3e1f9e93742a3c76b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000230.json @@ -0,0 +1,47 @@ +{ + "episode_index": 230, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red playingcards box and shift it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000231.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..9660c6b1221b3cc231511b9e0bb2bb1519e04583 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000231.json @@ -0,0 +1,47 @@ +{ + "episode_index": 231, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular playingcards case and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000232.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..dbae33fe8b9f35afabe5fa3d6fe83a4af4a789c6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000232.json @@ -0,0 +1,47 @@ +{ + "episode_index": 232, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playing cards box with gold text and place it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000233.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..e74825a78865dfb01e9046a7967b30514a34aeac --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000233.json @@ -0,0 +1,47 @@ +{ + "episode_index": 233, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box of playingcards outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000234.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0ea9951f532e28b95fd2b20fbea679db4fa8a3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000234.json @@ -0,0 +1,47 @@ +{ + "episode_index": 234, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the black box with rectangular shape and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000235.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3bd8552f816400f258eab159ef8ecd9473a45a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000235.json @@ -0,0 +1,47 @@ +{ + "episode_index": 235, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the palm-sized playingcards carton and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000236.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..b85699b6fa21e0bacd0433b5f1146bbc9c73219c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000236.json @@ -0,0 +1,47 @@ +{ + "episode_index": 236, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards pack from the table and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000237.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..72e2ed53f137e7273dc6e114dc9d61953382337d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000237.json @@ -0,0 +1,47 @@ +{ + "episode_index": 237, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the palm-sized box for playing cards and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000238.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..4e37a9b393f03da2b1308a07dabb7aa43f256760 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000238.json @@ -0,0 +1,47 @@ +{ + "episode_index": 238, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playing cards box with gold text from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000239.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..32c1943b56b6f7f5e459c54fb21c9c7ea192549e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000239.json @@ -0,0 +1,47 @@ +{ + "episode_index": 239, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box for playingcards and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000240.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c69de0f451ab8c0fe31a5784c2509fbee19540 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000240.json @@ -0,0 +1,47 @@ +{ + "episode_index": 240, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the blue playingcards box off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000241.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff418210f22513a7107a92bdc212451a1afa5f8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000241.json @@ -0,0 +1,47 @@ +{ + "episode_index": 241, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the smooth playingcards holder and slide it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000242.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..c8837862c2f6a28d435ac0a4f9c1184c909ef310 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000242.json @@ -0,0 +1,47 @@ +{ + "episode_index": 242, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards holder and move it away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000243.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe705a07a0ace935788314ce5f9761e4b31434c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000243.json @@ -0,0 +1,47 @@ +{ + "episode_index": 243, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000244.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..ae6acfebf9f1fbe74c0fa37048288027b6555dd9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000244.json @@ -0,0 +1,47 @@ +{ + "episode_index": 244, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the cardboard playing cards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000245.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..9adef48e2c923883a63c361207bbcb32be91da94 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000245.json @@ -0,0 +1,47 @@ +{ + "episode_index": 245, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the compact box for playing cards using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000246.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..87a653ae885de814d09d960c909be918f82ef20f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000246.json @@ -0,0 +1,47 @@ +{ + "episode_index": 246, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the blue playingcards box and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000247.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..115df953eb1129efcc3f0fd5b02986b0cb8f400f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000247.json @@ -0,0 +1,47 @@ +{ + "episode_index": 247, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the small playingcards container and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000248.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..2fba16b4acd024437a511a2680196c919fffd23b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000248.json @@ -0,0 +1,47 @@ +{ + "episode_index": 248, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the compact box for playing cards with the right arm and place it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000249.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..ff98292eb7f87a710ae35a0a552ad4e80b55d810 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000249.json @@ -0,0 +1,47 @@ +{ + "episode_index": 249, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue playingcards box and move it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000250.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..82d38ae6cab86b320e0c7740f8e32004f80bdd32 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000250.json @@ -0,0 +1,47 @@ +{ + "episode_index": 250, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the yellow and red playingcards box and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000251.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5a63353f536a1620bdc82e57120916ff2f8dec --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000251.json @@ -0,0 +1,47 @@ +{ + "episode_index": 251, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the playingcards pack with blue top and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000252.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..7b798967e96e183cce1acfb0ed909960cd74ed4e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000252.json @@ -0,0 +1,47 @@ +{ + "episode_index": 252, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000253.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..16c2b5b3f7acb48e6d0f8b3c770ac17f465be256 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000253.json @@ -0,0 +1,47 @@ +{ + "episode_index": 253, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangle-shaped cards box and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000254.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c2b7c6897a4c1c7f84cca355a2bc2ab33261fd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000254.json @@ -0,0 +1,47 @@ +{ + "episode_index": 254, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton using the left arm and move it outward.", + "num_frames": 114, + "subtasks": [ 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000255.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..08a362faa9196a1a7465aeb8cdd34f3d63169c5a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000255.json @@ -0,0 +1,47 @@ +{ + "episode_index": 255, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the small playingcards container and shift it outward.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000256.json @@ -0,0 +1,47 @@ +{ + "episode_index": 256, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the yellow and red playingcards box with the right arm and place it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": 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"num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000258.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..28fc3dccc448b6463fb00343f540c8dd91b43cfa --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000258.json @@ -0,0 +1,47 @@ +{ + "episode_index": 258, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangle-shaped cards box and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000259.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..af59a6f37556329295c72774ec75774f1023d2a1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000259.json @@ -0,0 +1,47 @@ +{ + "episode_index": 259, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white symbols using the left arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000260.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..ee11662a94db9879b93b92b445ac07d16f08718b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000260.json @@ -0,0 +1,47 @@ +{ + "episode_index": 260, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the rectangular blue playingcards case away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000261.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..18fb9d94a5904579b6a238045d6c14bf8b935ce2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000261.json @@ -0,0 +1,47 @@ +{ + "episode_index": 261, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000262.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..74014c9fc10452f56520c1a06acbe489bee236f9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000262.json @@ -0,0 +1,47 @@ +{ + "episode_index": 262, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000263.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..972664a8faf76b8b1116ea832282bc557371631d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000263.json @@ -0,0 +1,47 @@ +{ + "episode_index": 263, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton using the left arm and move it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000264.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..c7f987ffcdd189b9b3f88ef3206acb75f3c30fcc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000264.json @@ -0,0 +1,47 @@ +{ + "episode_index": 264, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the compact red playingcards pack and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000265.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea462a2713430f02bbb8c76ee73e2ad4d7cc8e7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000265.json @@ -0,0 +1,47 @@ +{ + "episode_index": 265, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton and slide it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000266.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..72884dbd58294a5a88960bf89e4fd20520c74b02 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000266.json @@ -0,0 +1,47 @@ +{ + "episode_index": 266, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized box for playing cards outward after grabbing it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000267.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..8784bca95e44f1f82017c55f09006d6ab68e59c8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000267.json @@ -0,0 +1,47 @@ +{ + "episode_index": 267, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box for playingcards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000268.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..87ab598c944e0b54258f200762991a3a1ea8c57b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000268.json @@ -0,0 +1,47 @@ +{ + "episode_index": 268, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it farther outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000269.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f29c91695db2cc11f0a2b23d295f8aa27ec74a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000269.json @@ -0,0 +1,47 @@ +{ + "episode_index": 269, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the small black box with cards and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000270.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..02b21b99b00b9daac67bd1f9390752025aba812a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000270.json @@ -0,0 +1,47 @@ +{ + "episode_index": 270, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white symbols and slide it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000271.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..d632e3393b90a2503834187af58b83e4b964334b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000271.json @@ -0,0 +1,47 @@ +{ + "episode_index": 271, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the blue and white playingcards packaging and slide it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000272.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..b74bbfe210ef831ecce9c8ea6e17a0656c08ec55 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000272.json @@ -0,0 +1,47 @@ +{ + "episode_index": 272, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the yellow and red playingcards box and set it beyond the table.", + "num_frames": 114, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000273.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..95b59d839c387d1cd59f5b773e8c2c82e3302179 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000273.json @@ -0,0 +1,47 @@ +{ + "episode_index": 273, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular blue playingcards case and place it farther away with the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000274.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..eaab956b2ca38725a7d33c4e5b8ec7929788a2af --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000274.json @@ -0,0 +1,47 @@ +{ + "episode_index": 274, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the rectangular blue playingcards case and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000275.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..c6d6bc1d200dfba849cb19ea625eaea981a36b32 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000275.json @@ -0,0 +1,47 @@ +{ + "episode_index": 275, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the rectangular playingcards case away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000276.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..92c9ee2992c98a422764f50962aa60ad162f97b9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000276.json @@ -0,0 +1,47 @@ +{ + "episode_index": 276, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000277.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ec578aed4fb5f82dffe87b9009df26eb5a0eb8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000277.json @@ -0,0 +1,47 @@ +{ + "episode_index": 277, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards storage box and relocate it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000278.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3eb009164dd6494de06bdb9c9d279f4a39133f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000278.json @@ -0,0 +1,47 @@ +{ + "episode_index": 278, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playing cards box with gold text and slide it off the table.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000279.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..9d01e6fa70ea2cb9320979161da227e5ef1dde81 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000279.json @@ -0,0 +1,47 @@ +{ + "episode_index": 279, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and shift it farther away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000280.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..dde7698e3ab90cb04dbb69b51f990c552cdcc2ae --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000280.json @@ -0,0 +1,47 @@ +{ + "episode_index": 280, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards box with white symbols outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000281.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..b2081a8be372a12105df9c32aed2ca0eb399a7d8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000281.json @@ -0,0 +1,47 @@ +{ + "episode_index": 281, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it beyond the table.", + "num_frames": 117, + "subtasks": [ 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000282.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..14bd54b7bc1e3cebd55a952e0d5ce482a9375284 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000282.json @@ -0,0 +1,47 @@ +{ + "episode_index": 282, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the red and yellow playingcards case and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000283.json @@ -0,0 +1,47 @@ +{ + "episode_index": 283, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000284.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..3264945c71578d3991f127a77cfa2ac1fa907d3d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000284.json @@ -0,0 +1,47 @@ +{ + "episode_index": 284, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact red playingcards pack away from its position on the table.", + "num_frames": 119, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000285.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..00ff262110d6c78bfb51eeae547ec556ba3c6a46 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000285.json @@ -0,0 +1,47 @@ +{ + "episode_index": 285, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box holding playing cards and place it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000286.json @@ -0,0 +1,47 @@ +{ + "episode_index": 286, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards and relocate it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000288.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..17a6857553c4c2584b514f2da7dccd1c080d4d07 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000288.json @@ -0,0 +1,47 @@ +{ + "episode_index": 288, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the box holding playing cards outward after grabbing it.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000289.json @@ -0,0 +1,47 @@ +{ + "episode_index": 289, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the box for playingcards and slide it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000290.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..5310ff75de3b565820f3708952ba54a90e447ada --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000290.json @@ -0,0 +1,47 @@ +{ + "episode_index": 290, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the smooth black cards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000291.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..500ab16f28e05c36962910c799f9f63c9ccb2606 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000291.json @@ -0,0 +1,47 @@ +{ + "episode_index": 291, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the box of playingcards and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000292.json @@ -0,0 +1,47 @@ +{ + "episode_index": 292, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth playingcards holder using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000293.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..efef7cd2879386570c86b5cfb7270d66026730c5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000293.json @@ -0,0 +1,47 @@ +{ + "episode_index": 293, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the playingcards pack with blue top and shift it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000294.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..06af29899df120ed327b3e709a4bc96520e68c73 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000294.json @@ -0,0 +1,47 @@ +{ + "episode_index": 294, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the box for playingcards off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000295.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..569408969996810a9518192f562fb9b010d3cbba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000295.json @@ -0,0 +1,47 @@ +{ + "episode_index": 295, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth black cards container and take it away from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000296.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..a748bd21446529bae4e2c9ba43a24ffdd7c456cf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000296.json @@ -0,0 +1,47 @@ +{ + "episode_index": 296, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue pack holding playingcards and set it beyond the table.", + "num_frames": 118, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000297.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..7e71323528a1280361086c3f6ec0d7273a540207 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000297.json @@ -0,0 +1,47 @@ +{ + "episode_index": 297, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the cardboard playing cards box and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000298.json @@ -0,0 +1,47 @@ +{ + "episode_index": 298, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the smooth playingcards holder and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000299.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..ab18e234221435263c0dd2df059aaaaeed0679bd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000299.json @@ -0,0 +1,47 @@ +{ + "episode_index": 299, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000300.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..fa26c4da581d9acd3b8c1a1bc400f70f0b200b80 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000300.json @@ -0,0 +1,47 @@ +{ + "episode_index": 300, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the yellow and red playingcards box away from its position on the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000301.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..48ffad9223eaeff8dee81117b04283aa8bd218b6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000301.json @@ -0,0 +1,47 @@ +{ + "episode_index": 301, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": 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"subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000303.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2ee333bd695cc3334cf5d4d4a58530296d1dd8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000303.json @@ -0,0 +1,47 @@ +{ + "episode_index": 303, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the small playingcards container and move it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000304.json @@ -0,0 +1,47 @@ +{ + "episode_index": 304, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangular playingcards case and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000305.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..f313f3e9052e278347832e2c273f587b348f2638 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000305.json @@ -0,0 +1,47 @@ +{ + "episode_index": 305, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular playingcards case and shift it outward.", + "num_frames": 116, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000306.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..d1133512bf226cebb266211dd5470f1c909f29cf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000306.json @@ -0,0 +1,47 @@ +{ + "episode_index": 306, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red playingcards box farther from the table using the left arm.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000307.json @@ -0,0 +1,47 @@ +{ + "episode_index": 307, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the box of playingcards and move it aside.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000309.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..455c31679c95986fbc8b189ff9e4ad6039431dca --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000309.json @@ -0,0 +1,47 @@ +{ + "episode_index": 309, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red and yellow playingcards case and place it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000310.json @@ -0,0 +1,47 @@ +{ + "episode_index": 310, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the blue playingcards box and move it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000311.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..28bb30fc456d2ac564fcd06b9120ccdd3d07a55f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000311.json @@ -0,0 +1,47 @@ +{ + "episode_index": 311, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards pack and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000312.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..1eb93c3d3236e942a9c8a9e3c026b1684157e7e8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000312.json @@ -0,0 +1,47 @@ +{ + "episode_index": 312, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the box for playingcards from the table and shift it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000313.json @@ -0,0 +1,47 @@ +{ + "episode_index": 313, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the red playingcards box using the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": 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"subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000315.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..d0b97fad940ad96e743d10c7756cbe891a62513f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000315.json @@ -0,0 +1,47 @@ +{ + "episode_index": 315, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and set it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000316.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d5fac71ddb9dcb34adc35c6fa42d50c07d2c0c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000316.json @@ -0,0 +1,47 @@ +{ + "episode_index": 316, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box using the left arm and transfer it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000317.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..774bbb116b76dc5afc050e36f4169e1772a050a3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000317.json @@ -0,0 +1,47 @@ +{ + "episode_index": 317, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the playingcards pack with blue top using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000318.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..78f2795eb94d70e56ba8edae41553a6c444f3d1d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000318.json @@ -0,0 +1,47 @@ +{ + "episode_index": 318, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box holding playing cards and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000319.json @@ -0,0 +1,47 @@ +{ + "episode_index": 319, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box for playingcards and slide it outward.", + "num_frames": 125, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "right", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 112, + "arm": "right", + "kind": "open", + "start_frame": 105, + "end_frame": 119 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000320.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8617fb24b485a2372e899f6a4a41dab1407893 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000320.json @@ -0,0 +1,47 @@ +{ + "episode_index": 320, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red playingcards box and place it beyond the table.", + "num_frames": 114, + "subtasks": [ + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000321.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..df1a0ab09e7b32b020e228699b559cc236d98fc0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000321.json @@ -0,0 +1,47 @@ +{ + "episode_index": 321, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000322.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..ac07a13c84b679b77cb5b74f4be7efba3e653b25 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000322.json @@ -0,0 +1,47 @@ +{ + "episode_index": 322, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and set it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000323.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ee74eab3739b94cd24d5aeb405e230a67d2ba0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000323.json @@ -0,0 +1,47 @@ +{ + "episode_index": 323, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the playingcards box with white symbols and move it outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000324.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..5db4f169a31fdc0b0c4f17c52e79450201c3189d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000324.json @@ -0,0 +1,47 @@ +{ + "episode_index": 324, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack using the right arm and transfer it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000325.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..c02b4dafebe0d1502a1a5d6aff1bf7519a2c9cba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000325.json @@ -0,0 +1,47 @@ +{ + "episode_index": 325, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact red playingcards pack and push it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000326.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..0873ff5932202883c849b8eeef80516f99b38b6b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000326.json @@ -0,0 +1,47 @@ +{ + "episode_index": 326, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000327.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd0e1dbb91b594c910211dfd91dec6ffee15d8f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000327.json @@ -0,0 +1,47 @@ +{ + "episode_index": 327, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the small playingcards container and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000328.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..71400e1c3f7b559de3cf70ff1181632d61f4aed9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000328.json @@ -0,0 +1,47 @@ +{ + "episode_index": 328, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards box with white accents using the right arm and push it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000329.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..29ff48c64a2d862603b5764ee29839764c39bfda --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000329.json @@ -0,0 +1,47 @@ +{ + "episode_index": 329, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue playingcards box and place it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000330.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..573e93e628a86bc13ee731018c9e3fe078a574a1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000330.json @@ -0,0 +1,47 @@ +{ + "episode_index": 330, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Relocate the rectangle-shaped cards box farther outward using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000331.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..f895dceb2712bf11b128f082ac71e9aae3f1e502 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000331.json @@ -0,0 +1,47 @@ +{ + "episode_index": 331, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue playingcards box from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000332.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..bae0a7a8fed7231839c91c312410c831c6922c59 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000332.json @@ -0,0 +1,47 @@ +{ + "episode_index": 332, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards and move it further away.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000333.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..e15c8457963cd2443144717c98ac59209e5e6dcd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000333.json @@ -0,0 +1,47 @@ +{ + "episode_index": 333, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box and place it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000334.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..31ed524c2e307707381406a94029ef2f554e58f5 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000334.json @@ -0,0 +1,47 @@ +{ + "episode_index": 334, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the blue pack holding playingcards and push it outward.", + "num_frames": 127, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 126, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 114, + "arm": "left", + "kind": "open", + "start_frame": 107, + "end_frame": 121 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000335.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..9ebc82d840ccdb4637ae7dd8b4b3e4a1f43bd2b0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000335.json @@ -0,0 +1,47 @@ +{ + "episode_index": 335, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards holder and set it away from the table.", + "num_frames": 116, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000336.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..2f23e4803d36a3459d243c24e1fd0ee68b0fad44 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000336.json @@ -0,0 +1,47 @@ +{ + "episode_index": 336, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the yellow and red playingcards box and move it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000337.json @@ -0,0 +1,47 @@ +{ + "episode_index": 337, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the small black box with cards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000338.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..409cec5b22b27a26479645522d442136f28204e6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000338.json @@ -0,0 +1,47 @@ +{ + "episode_index": 338, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards holder and move it further away.", + "num_frames": 115, + "subtasks": [ + { 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000339.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..067acf3e7c781690a09dc8b478e7903cd529ae0f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000339.json @@ -0,0 +1,47 @@ +{ + "episode_index": 339, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case and shift it further outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "right", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000340.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..64a581e619ed878438be6881d58207e523abba04 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000340.json @@ -0,0 +1,47 @@ +{ + "episode_index": 340, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the yellow and red playingcards box and place it farther away with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000341.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c8d860041cfc1f1685fee49e7e1ee323d503a9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000341.json @@ -0,0 +1,47 @@ +{ + "episode_index": 341, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs using the left arm and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000342.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..dd8c9ecb69b17a73e924ed20fe0ad3dbd70a3b51 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000342.json @@ -0,0 +1,47 @@ +{ + "episode_index": 342, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red playingcards box and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000343.json @@ -0,0 +1,47 @@ +{ + "episode_index": 343, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape and move it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000345.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..fe89d90310513d7380ea24a21137a38c87285eb6 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000345.json @@ -0,0 +1,47 @@ +{ + "episode_index": 345, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the smooth playingcards pack outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000346.json @@ -0,0 +1,47 @@ +{ + "episode_index": 346, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards and push it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000347.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..ae36990b8511b9a54ff14568c4f64965348d925b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000347.json @@ -0,0 +1,47 @@ +{ + "episode_index": 347, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside using the right arm and shift it outward.", + "num_frames": 116, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000348.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab048679b8dda81f62e77239654a8fc15cd8ff3 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000348.json @@ -0,0 +1,47 @@ +{ + "episode_index": 348, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and push it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000349.json @@ -0,0 +1,47 @@ +{ + "episode_index": 349, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the red playingcards box from the table and shift it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": 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"subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000351.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..69b838eb25e33c1045cbfbec388a533fd0ba4ac2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000351.json @@ -0,0 +1,47 @@ +{ + "episode_index": 351, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container with the right arm and place it outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000352.json @@ -0,0 +1,47 @@ +{ + "episode_index": 352, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside and push it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000353.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa5b44aa34541cc1418c8839c22ebc441ef3fba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000353.json @@ -0,0 +1,47 @@ +{ + "episode_index": 353, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the compact red playingcards pack and slide it further outward.", + "num_frames": 114, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000354.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..c267b611fba632993b6360ffc085578a23f00d4d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000354.json @@ -0,0 +1,47 @@ +{ + "episode_index": 354, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000355.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..3f90fba40fcdec7798728bd290f5478c9021e5ec --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000355.json @@ -0,0 +1,47 @@ +{ + "episode_index": 355, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000356.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1fdcebf4d95f3ffb0bde65890805ebb8673c5a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000356.json @@ -0,0 +1,47 @@ +{ + "episode_index": 356, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards storage box farther from the table using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000357.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..15ff872d8db794c733e89e695aee753beeae5660 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000357.json @@ -0,0 +1,47 @@ +{ + "episode_index": 357, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the small black box with cards further outward after picking it up.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000358.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa9dd63b38d46c666729c5c66a46c11f76885e9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000358.json @@ -0,0 +1,47 @@ +{ + "episode_index": 358, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the left arm, pick up the blue and white playingcards packaging and slide it outward.", + "num_frames": 142, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000359.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..1f9387af0bf0ecbb62bab23d3574d5af67e00efc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000359.json @@ -0,0 +1,47 @@ +{ + "episode_index": 359, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the compact red playingcards pack and place it beyond the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000360.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..83fae34ea7d2a51539c7a1023e368cb9b1dc0c45 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000360.json @@ -0,0 +1,47 @@ +{ + "episode_index": 360, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards box with white symbols and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000361.json @@ -0,0 +1,47 @@ +{ + "episode_index": 361, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it farther outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "right", + "kind": "open", 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000363.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..84bc00eb6fd83565a9b55e21eb8a25d8dcee3d56 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000363.json @@ -0,0 +1,47 @@ +{ + "episode_index": 363, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage and set it beyond the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000364.json @@ -0,0 +1,47 @@ +{ + "episode_index": 364, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the yellow and red playingcards box away from the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000366.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c1a11157496017ed4bb054b53fbf84659d7785 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000366.json @@ -0,0 +1,47 @@ +{ + "episode_index": 366, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000367.json @@ -0,0 +1,47 @@ +{ + "episode_index": 367, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the yellow and red playingcards box and move it away from the table.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 105, + "arm": "right", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000369.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5cc651a7039ffcf37e7682ea6813fa5bc222b0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000369.json @@ -0,0 +1,47 @@ +{ + "episode_index": 369, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and place it farther away with the right arm.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000370.json @@ -0,0 +1,47 @@ +{ + "episode_index": 370, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized playingcards carton and place it farther away with the left arm.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 106, + "arm": "left", 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000372.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..5df3948e7ff430414c9bdd37ae2d11426d4d42ad --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000372.json @@ -0,0 +1,47 @@ +{ + "episode_index": 372, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the rectangle-shaped cards box outward from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000373.json @@ -0,0 +1,47 @@ +{ + "episode_index": 373, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the card box with golden designs with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000375.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..91af5da1ce7e54dcf2ad98839e72421eb01d983c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000375.json @@ -0,0 +1,47 @@ +{ + "episode_index": 375, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000376.json @@ -0,0 +1,47 @@ +{ + "episode_index": 376, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the blue pack holding playingcards outward by grabbing it with the left arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000377.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..8f73027952362dc88e89351f57261d2776fe0537 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000377.json @@ -0,0 +1,47 @@ +{ + "episode_index": 377, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue carton for playingcards and slide it off the table.", + "num_frames": 114, + "subtasks": [ 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000378.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..f5fb9b66129961f5f2d6953e3dfc902d8be8fdfc --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000378.json @@ -0,0 +1,47 @@ +{ + "episode_index": 378, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box and set it away from the table.", + "num_frames": 126, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000379.json @@ -0,0 +1,47 @@ +{ + "episode_index": 379, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the cardboard playing cards box and move it.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000380.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..b026332fed684493dd9872e99d06062a448f281c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000380.json @@ -0,0 +1,47 @@ +{ + "episode_index": 380, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and set it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000381.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..520bf3216defecf0351c79666c21162c4bcb98b9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000381.json @@ -0,0 +1,47 @@ +{ + "episode_index": 381, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and move it further away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000382.json @@ -0,0 +1,47 @@ +{ + "episode_index": 382, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and relocate it off the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000383.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..4f36c3b29ec5b8ae6e53e6b819cf890a48998993 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000383.json @@ -0,0 +1,47 @@ +{ + "episode_index": 383, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue and white playingcards packaging using the right arm and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000384.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd95103a1c894fb168f5000013b76fe1148b7c0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000384.json @@ -0,0 +1,47 @@ +{ + "episode_index": 384, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container from the table and move it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000385.json @@ -0,0 +1,47 @@ +{ + "episode_index": 385, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the small playingcards container and move it outward.", + "num_frames": 122, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 109, + "arm": "right", + "kind": "open", + "start_frame": 102, + "end_frame": 116 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000386.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5915bb39d4045aacac59da04baf54a4caeb2b0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000386.json @@ -0,0 +1,47 @@ +{ + "episode_index": 386, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the smooth black cards container and move it away.", + "num_frames": 115, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000387.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..26897939a1b867399603c8ad4b53ee6e7df28c71 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000387.json @@ -0,0 +1,47 @@ +{ + "episode_index": 387, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue playingcards box and move it farther outward.", + "num_frames": 141, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000388.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..886f682f2b95e2e2befbf3f2c695c4dbf1795f08 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000388.json @@ -0,0 +1,47 @@ +{ + "episode_index": 388, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the glossy rectangular playingcards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000389.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d0a42eb2c2055cb57ced6cfdee33b75b239f97 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000389.json @@ -0,0 +1,47 @@ +{ + "episode_index": 389, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack and move it further away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000390.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..108ed9121b77b0c9d5342e51bc985526e027ea3c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000390.json @@ -0,0 +1,47 @@ +{ + "episode_index": 390, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box with cards inside and move it further away.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000391.json @@ -0,0 +1,47 @@ +{ + "episode_index": 391, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the blue and white playingcards packaging farther from the table using the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000392.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..730e36a036c606bd41cc461392a67e468430531f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000392.json @@ -0,0 +1,47 @@ +{ + "episode_index": 392, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000393.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..37820882edd308484288ee9f6e6ede6e72777115 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000393.json @@ -0,0 +1,47 @@ +{ + "episode_index": 393, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Using the left arm, lift the black box with rectangular shape and move it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 100, + "arm": "left", + "kind": "open", + "start_frame": 93, + "end_frame": 107 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000394.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..7964e2ad8cc403008476da3eb5119c6ebe4f89fb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000394.json @@ -0,0 +1,47 @@ +{ + "episode_index": 394, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the hand-sized playingcards container outward by grabbing it with the right arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000395.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..e6d6bcbc57d96accea025394a23889972f44f265 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000395.json @@ -0,0 +1,47 @@ +{ + "episode_index": 395, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the palm-sized box for playing cards using the left arm and transfer it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000396.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e739e7640efed93c0b99cee2c7cde9b118dd45 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000396.json @@ -0,0 +1,47 @@ +{ + "episode_index": 396, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the compact red playingcards pack and move it.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000397.json @@ -0,0 +1,47 @@ +{ + "episode_index": 397, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the hand-sized playingcards container away from the table outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 100, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000399.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd7a87f41c8537d843a3e84021e0c46d7838974 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000399.json @@ -0,0 +1,47 @@ +{ + "episode_index": 399, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue pack holding playingcards from the table and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000400.json @@ -0,0 +1,47 @@ +{ + "episode_index": 400, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the palm-sized box for playing cards off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000402.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..35635e99b80628dea26700f81bb355d5baf4bb58 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000402.json @@ -0,0 +1,47 @@ +{ + "episode_index": 402, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue playingcards box with the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000403.json @@ -0,0 +1,47 @@ +{ + "episode_index": 403, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs away from its position on the table.", + "num_frames": 128, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 127, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "right", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 115, + "arm": "right", + "kind": "open", + "start_frame": 108, + "end_frame": 122 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000404.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..61ca7bb5dea5c3ef675f94262731e4128f1923ea --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000404.json @@ -0,0 +1,47 @@ +{ + "episode_index": 404, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage with the right arm and move it outward.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000405.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..47f047da2076d2838c5d85cf6662de4cd0980590 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000405.json @@ -0,0 +1,47 @@ +{ + "episode_index": 405, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box of playingcards using the right arm and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000406.json @@ -0,0 +1,47 @@ +{ + "episode_index": 406, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000408.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7a4e61cf26b02b16587e37c4e672cc2aae9993 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000408.json @@ -0,0 +1,47 @@ +{ + "episode_index": 408, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular box for card storage from the table and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000409.json @@ -0,0 +1,47 @@ +{ + "episode_index": 409, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the rectangular playingcards case with the right arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000410.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..15443f84197b092eea870081378506bc00fca778 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000410.json @@ -0,0 +1,47 @@ +{ + "episode_index": 410, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the rectangular blue playingcards case with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000411.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9903e5e4a89ed9ec94fda79d44f45d3d0b84cb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000411.json @@ -0,0 +1,47 @@ +{ + "episode_index": 411, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the glossy rectangular playingcards box and move it away.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000412.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..08ca83b63252623dbb2f24ef585250643c5c90ac --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000412.json @@ -0,0 +1,47 @@ +{ + "episode_index": 412, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and shift it farther away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000413.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..f76211139d3e84bacc9420c6468db158389d836b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000413.json @@ -0,0 +1,47 @@ +{ + "episode_index": 413, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the small playingcards pack and move it outward from the table.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000414.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..1411c17c668dbe80b83c7a1dcd36f0f7f6bc0dfa --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000414.json @@ -0,0 +1,47 @@ +{ + "episode_index": 414, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container and set it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000415.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b4efea42599d47ba5cbde771140b06d61d5211 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000415.json @@ -0,0 +1,47 @@ +{ + "episode_index": 415, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and take it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000416.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3addb0be401a38e0fe96f477d2fe2519924903 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000416.json @@ -0,0 +1,47 @@ +{ + "episode_index": 416, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the playingcards box with white symbols and move it away.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000417.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..539b40ce238425a0f1755c0df5bfb05297d7bab9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000417.json @@ -0,0 +1,47 @@ +{ + "episode_index": 417, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box for playingcards outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000418.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..c3cd95f0faa1fe7f50ce951d23cfaec9a1db2426 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000418.json @@ -0,0 +1,47 @@ +{ + "episode_index": 418, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the box of playingcards off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000419.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..1456c63bd0b1d02986520e9645de65c121e4d824 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000419.json @@ -0,0 +1,47 @@ +{ + "episode_index": 419, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and place it beyond the table.", + "num_frames": 144, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000420.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..9e54b813354b48ae4e2939ddbd75a567db1cdd2e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000420.json @@ -0,0 +1,47 @@ +{ + "episode_index": 420, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the box with cards inside outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000421.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..d8740e4dd83cd16669560c0687127318d49d0a71 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000421.json @@ -0,0 +1,47 @@ +{ + "episode_index": 421, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards pack with blue top and slide it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000422.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..b4605fa94ba8c821a71ad56423378bf319407f85 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000422.json @@ -0,0 +1,47 @@ +{ + "episode_index": 422, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the playingcards pack with blue top and place it further outward.", + "num_frames": 114, + "subtasks": [ + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000423.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..5702831e4279544867a0d20a192df3cf53dbc769 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000423.json @@ -0,0 +1,47 @@ +{ + "episode_index": 423, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the small playingcards pack and move it away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000424.json @@ -0,0 +1,47 @@ +{ + "episode_index": 424, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the palm-sized box for playing cards and shift it further outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000426.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..bca0ac2837d3f8efd8657fa983d974cf03dc7a7c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000426.json @@ -0,0 +1,47 @@ +{ + "episode_index": 426, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black playing cards box and shift it further outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000427.json @@ -0,0 +1,47 @@ +{ + "episode_index": 427, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the red and yellow playingcards case and place it further outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 102, + "arm": "left", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000429.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..37df1e8482cf318794707258c714cf82ae17bf96 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000429.json @@ -0,0 +1,47 @@ +{ + "episode_index": 429, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the cardboard playing cards box and move it outward from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000430.json @@ -0,0 +1,47 @@ +{ + "episode_index": 430, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the palm-sized playingcards carton and shift it farther away from the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000431.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..794c66ab895efe1f2fb300f1b12423b8be636691 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000431.json @@ -0,0 +1,47 @@ +{ + "episode_index": 431, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the black box with rectangular shape outward by grabbing it with the right arm.", + "num_frames": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000432.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c92db5729741061482aac3948922417931c26a --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000432.json @@ -0,0 +1,47 @@ +{ + "episode_index": 432, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black playing cards box and place it beyond the table.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000433.json @@ -0,0 +1,47 @@ +{ + "episode_index": 433, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular playingcards case outward by grabbing it with the left arm.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000434.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..c1356a90404daae50db325cd47fd4d81bdd3f4a4 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000434.json @@ -0,0 +1,47 @@ +{ + "episode_index": 434, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small playingcards container and set it beyond the table.", + "num_frames": 116, + "subtasks": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000435.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..3ebec042f24181253eb5d4e8712dbfda6cb09140 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000435.json @@ -0,0 +1,47 @@ +{ + "episode_index": 435, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards holder and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000436.json @@ -0,0 +1,47 @@ +{ + "episode_index": 436, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the small playingcards pack and move it away.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000438.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..f878ddc5dfab57f2dc8cfd4dd4e363084a7fd36e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000438.json @@ -0,0 +1,47 @@ +{ + "episode_index": 438, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to grab the blue playingcards box and move it aside.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000439.json @@ -0,0 +1,47 @@ +{ + "episode_index": 439, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the blue playingcards box outward from the table.", + "num_frames": 120, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "right", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000440.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..040b2b7016905001de328776fbe1e625265112a8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000440.json @@ -0,0 +1,47 @@ +{ + "episode_index": 440, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box with cards inside and shift it further outward.", + "num_frames": 114, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000441.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..e37effe027932a876cfa34d1f5551b7f7ce00550 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000441.json @@ -0,0 +1,47 @@ +{ + "episode_index": 441, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box using the right arm and transfer it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000442.json @@ -0,0 +1,47 @@ +{ + "episode_index": 442, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards storage box using the left arm and push it outward.", + "num_frames": 113, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 100, + "arm": "left", + "kind": 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"subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000444.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..611e2c65a32ca3280eff60d100fe2603b3810827 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000444.json @@ -0,0 +1,47 @@ +{ + "episode_index": 444, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the smooth playingcards pack from the table and shift it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000445.json @@ -0,0 +1,47 @@ +{ + "episode_index": 445, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the black box with rectangular shape and push it further away.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000446.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..b8cc65e8ceb419af56f489cf4b14442240af9cc7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000446.json @@ -0,0 +1,47 @@ +{ + "episode_index": 446, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and slide it off the table.", + "num_frames": 117, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000447.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..84f75de12099509df3594a4752ce59c4bc64fdcd --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000447.json @@ -0,0 +1,47 @@ +{ + "episode_index": 447, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact box for playing cards with the left arm and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000448.json @@ -0,0 +1,47 @@ +{ + "episode_index": 448, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth black cards container with the left arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000449.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..565048f73899b0aace2c39b480acc78c7548cc6f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000449.json @@ -0,0 +1,47 @@ +{ + "episode_index": 449, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the smooth black cards container and move it away.", + "num_frames": 114, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000450.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5eb5c0a640fb093527ff41e4b20af957fe58b8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000450.json @@ -0,0 +1,47 @@ +{ + "episode_index": 450, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box holding playing cards and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000451.json @@ -0,0 +1,47 @@ +{ + "episode_index": 451, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box holding playing cards and relocate it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000452.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..2da0fc8f2fd219b20ee092632825b73d5a976ddf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000452.json @@ -0,0 +1,47 @@ +{ + "episode_index": 452, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the black playing cards box and place it farther away with the left arm.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000453.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..7ca40dadd8e594ab581b95123c3d21d87dc7cb1b --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000453.json @@ -0,0 +1,47 @@ +{ + "episode_index": 453, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the small playingcards container away from the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000454.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..558e519787492b040a2ba6aaba23a5a5be7e0317 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000454.json @@ -0,0 +1,47 @@ +{ + "episode_index": 454, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the blue and white playingcards packaging using the right arm and move it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000455.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..684eb38acfd616ba5e993c48b5ac0f8c82f1baa8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000455.json @@ -0,0 +1,47 @@ +{ + "episode_index": 455, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black box with rectangular shape using the right arm and push it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000456.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..6d02523de675b50c3c4577607679aa850911bcb1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000456.json @@ -0,0 +1,47 @@ +{ + "episode_index": 456, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the glossy rectangular playingcards box with the right arm and move it outward.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "right", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 105, + "arm": "right", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000457.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea647fb7c78f24c8936a3cebb80c67bc4c7ce4f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000457.json @@ -0,0 +1,47 @@ +{ + "episode_index": 457, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick the hand-sized playingcards container and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000458.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2f60f5519585b0d4745445059a068c1103f779 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000458.json @@ -0,0 +1,47 @@ +{ + "episode_index": 458, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Slide the box for playingcards off the table outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000459.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..0e1b023ad42fd6b4687d4a040f0492af1991d388 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000459.json @@ -0,0 +1,47 @@ +{ + "episode_index": 459, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Place the smooth playingcards holder away from the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000460.json @@ -0,0 +1,47 @@ +{ + "episode_index": 460, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box of playingcards and slide it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..e172c202160be3d3a79973957de44b7816a8ff5d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000462.json @@ -0,0 +1,47 @@ +{ + "episode_index": 462, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the glossy rectangular playingcards box using the right arm and transfer it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, 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"episode_index": 463, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the black box with rectangular shape using the right arm and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000464.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfdf8761163ede1a893b508a204da234a53e19d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000464.json @@ -0,0 +1,47 @@ +{ + "episode_index": 464, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the rectangular box for card storage off the table outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000465.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..59bfece4a1af570a3b38077e0ce2bbf20c846b12 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000465.json @@ -0,0 +1,47 @@ +{ + "episode_index": 465, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the rectangular playingcards case and place it beyond the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000466.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..9b93931adce43231e771d09bc0942f604d2be32e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000466.json @@ -0,0 +1,47 @@ +{ + "episode_index": 466, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the playingcards storage box farther from the table using the right arm.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000467.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..c93236955c6c010830e5d21fc0139bdeef7ac0f8 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000467.json @@ -0,0 +1,47 @@ +{ + "episode_index": 467, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the palm-sized box for playing cards and place it further outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000468.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..7c1f676eac5b9de6488cce12b8f342761829e413 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000468.json @@ -0,0 +1,47 @@ +{ + "episode_index": 468, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the compact box for playing cards further outward after picking it up.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000470.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..31b3ded2bac5ac67164d544dedb3c7edaaa49af0 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000470.json @@ -0,0 +1,47 @@ +{ + "episode_index": 470, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue pack holding playingcards and push it further away.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000471.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000471.json new file mode 100644 index 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"start_frame": 57, + "end_frame": 71 + }, + { + "frame": 107, + "arm": "right", + "kind": "open", + "start_frame": 100, + "end_frame": 114 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000472.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..d492882436ffe252b3d99aaa23a94d5ae26ca234 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000472.json @@ -0,0 +1,47 @@ +{ + "episode_index": 472, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the playingcards pack with blue top and take it away from the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000473.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..64e706d51f1f5757754a67e6711be109c0cecaee --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000473.json @@ -0,0 +1,47 @@ +{ + "episode_index": 473, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "With the right arm, pick up the box of playingcards and slide it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000474.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..74e36b9417dfd511d4230b53ad0266fbb32a4e01 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000474.json @@ -0,0 +1,47 @@ +{ + "episode_index": 474, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the card box with golden designs and set it beyond the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000475.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..4a59ca01fcb0b46a2a91776f98f060dba6b7fdd2 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000475.json @@ -0,0 +1,47 @@ +{ + "episode_index": 475, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000476.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..cb237e070048f166da3210864ae8f8b9ab293a08 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000476.json @@ -0,0 +1,47 @@ +{ + "episode_index": 476, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the card box with golden designs off the table to the side.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000477.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..fea66521b39445de690bd8e0ca0714de0ad789f1 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000477.json @@ -0,0 +1,47 @@ +{ + "episode_index": 477, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the small black box with cards and slide it off the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000478.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5ae3322044efe5130520122033d49d1e4cd46d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000478.json @@ -0,0 +1,47 @@ +{ + "episode_index": 478, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the blue and white playingcards packaging and move it aside.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000479.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2ce2714ca337d580c37588f843d1b2780518cb --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000479.json @@ -0,0 +1,47 @@ +{ + "episode_index": 479, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box for playingcards and relocate it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000480.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..99289e675000cd7fbe5393a191341d093df88b78 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000480.json @@ -0,0 +1,47 @@ +{ + "episode_index": 480, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular box for card storage from the table and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000481.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..4d14de1b9838071dbdf015052b8f5d1005eb53a7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000481.json @@ -0,0 +1,47 @@ +{ + "episode_index": 481, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular playingcards case using the right arm and push it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "right", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000482.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..b1cdc3909538f11424fcf99fbc72887c4ee421ae --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000482.json @@ -0,0 +1,47 @@ +{ + "episode_index": 482, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and set it away from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000483.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..2feea3779110cf479326e71fc53c20c91e95fb9e --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000483.json @@ -0,0 +1,47 @@ +{ + "episode_index": 483, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to grab the rectangle-shaped cards box and move it aside.", + "num_frames": 118, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 105, + "arm": "left", + "kind": "open", + "start_frame": 98, + "end_frame": 112 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000484.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..31b1b8c806cd737f2a8368dde7bc1121f9707f95 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000484.json @@ -0,0 +1,47 @@ +{ + "episode_index": 484, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the blue playingcards box and move it away from the table.", + "num_frames": 119, + "subtasks": [ + { + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000485.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..8b477d9c335fb9a2a478b93468123dbcec12bd58 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000485.json @@ -0,0 +1,47 @@ +{ + "episode_index": 485, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards storage box and set it away from the table.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000486.json @@ -0,0 +1,47 @@ +{ + "episode_index": 486, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick the palm-sized playingcards carton and move it outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "right", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000488.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8ea21bc066705f5e5ae9834eceecee5ec9ff27 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000488.json @@ -0,0 +1,47 @@ +{ + "episode_index": 488, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the cardboard playing cards box and push it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000489.json @@ -0,0 +1,47 @@ +{ + "episode_index": 489, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangle-shaped cards box and move it further away.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "right", + "kind": "open", + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000491.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..e3a22b8626e6f2381d88bb1b48a8dd1a0cb688e7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000491.json @@ -0,0 +1,47 @@ +{ + "episode_index": 491, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the box for playingcards and move it farther outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000492.json @@ -0,0 +1,47 @@ +{ + "episode_index": 492, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the box for playingcards using the right arm and move it outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000494.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1410ceac2150a5ed2125dc06dad063db0dbacf --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000494.json @@ -0,0 +1,47 @@ +{ + "episode_index": 494, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the small black box with cards from the table and shift it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000495.json @@ -0,0 +1,47 @@ +{ + "episode_index": 495, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the rectangular blue playingcards case from the table and shift it outward.", + "num_frames": 119, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 106, + "arm": "right", + "kind": "open", + "start_frame": 99, + "end_frame": 113 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000496.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..d0a1c3e635ae973569c577733dd790674e792aa7 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000496.json @@ -0,0 +1,47 @@ +{ + "episode_index": 496, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the small playingcards pack and push it outward.", + "num_frames": 114, + 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000497.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..feec79eb48c9e2328dbb757b393e43484e22bc10 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000497.json @@ -0,0 +1,47 @@ +{ + "episode_index": 497, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the card box with golden designs outward from the table.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic/episode_000498.json @@ -0,0 +1,47 @@ +{ + "episode_index": 498, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the yellow and red playingcards box outward after grabbing it.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "right", + "kind": 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a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..63ef7d679b3efdfc117928e3ddadb826c0327912 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json @@ -0,0 +1,47 @@ +{ + "episode_index": 0, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Take the box for playingcards and place it beyond the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0e583086e2690b7c7cb5a9bb558bac40215257ac --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json @@ -0,0 +1,47 @@ +{ + "episode_index": 1, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick the playingcards box with white symbols and shift it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e67489068e84327435b95e9ca75f3631c7bd7273 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json @@ -0,0 +1,47 @@ +{ + "episode_index": 2, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the box with cards inside from the table and move it outward.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 102, + "arm": "left", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e2e3d9fd5039a22d74746c363f7a6f3d12532c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json @@ -0,0 +1,47 @@ +{ + "episode_index": 3, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the left arm to pick up the small playingcards container and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 101, + "arm": "left", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..bed9f108531944a1c3bcbd58e0f6bfc6cae6db23 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json @@ -0,0 +1,47 @@ +{ + "episode_index": 4, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the playingcards box with white accents and relocate it off the table.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": 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"move_playingcard_away", + "task_goal": "Place the box with cards inside away from the table outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..41a5e748db83f2004b854d8a394d861567f035ba --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json @@ -0,0 +1,47 @@ +{ + "episode_index": 6, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the compact box for playing cards using the left arm and transfer it outward.", + "num_frames": 117, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 104, + "arm": "left", + "kind": "open", + "start_frame": 97, + "end_frame": 111 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd94f1709d4c2640849df79099eff590cdb0a1c --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json @@ -0,0 +1,47 @@ +{ + "episode_index": 7, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the blue pack holding playingcards and place it further away.", + "num_frames": 124, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 111, + "arm": "left", + "kind": "open", + "start_frame": 104, + "end_frame": 118 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c71e3e7e55ea2178de1d5d287ff09dc39daa4f --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json @@ -0,0 +1,47 @@ +{ + "episode_index": 8, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Pick up the red playingcards box with the right arm and place it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7a6702b16c7cf6c21f32c961c3623f6c0ef827 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json @@ -0,0 +1,47 @@ +{ + "episode_index": 9, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the smooth playingcards pack and slide it off the table.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..3591e88a2cb2d5828b03f4bb5b5c5b3e45073750 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json @@ -0,0 +1,47 @@ +{ + "episode_index": 10, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Move the red and yellow playingcards case off the table outward.", + "num_frames": 116, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 103, + "arm": "left", + "kind": "open", + "start_frame": 96, + "end_frame": 110 + } + ], + "scene_info": { + "{A}": "081_playingcards/base1", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..b30b0663644f4b8488a821120cef3a26c33b0cb9 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json @@ -0,0 +1,47 @@ +{ + "episode_index": 11, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Shift the rectangular blue playingcards case outward by grabbing it with the right arm.", + "num_frames": 115, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 102, + "arm": "right", + "kind": "open", + "start_frame": 95, + "end_frame": 109 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..f81bd16ecde65ffa0115ba58a659bcadb4aba906 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json @@ -0,0 +1,47 @@ +{ + "episode_index": 12, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Use the right arm to pick up the rectangular box for card storage and push it outward.", + "num_frames": 114, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 101, + "arm": "right", + "kind": "open", + "start_frame": 94, + "end_frame": 108 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..9e444e8b42ffae3945687316821baa69ee0cf545 --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json @@ -0,0 +1,47 @@ +{ + "episode_index": 13, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Lift the blue and white playingcards packaging with the left arm and move it outward.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "left", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base0", + "{a}": "left" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..3610e96ac900c724297c8eb508730d51efa4961d --- /dev/null +++ b/data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json @@ -0,0 +1,47 @@ +{ + "episode_index": 14, + "repo": "move_playingcard_away-aloha-agilex_randomized_500", + "task_slug": "move_playingcard_away", + "task_goal": "Grab the black playing cards box and shift it farther away from the table.", + "num_frames": 121, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Move the playing-card box outward.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 108, + "arm": "right", + "kind": "open", + "start_frame": 101, + "end_frame": 115 + } + ], + "scene_info": { + "{A}": "081_playingcards/base2", + "{a}": "right" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +}