Upload RoboTwin ALOHA clean LeRobot data (part 32)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000123.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000124.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000125.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000126.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000127.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000128.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000129.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000130.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000131.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000132.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000133.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000134.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000135.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000136.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000137.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000138.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000139.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000140.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000141.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000142.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000143.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000144.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000145.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000146.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000147.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000148.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000149.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000150.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000151.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000152.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000153.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000154.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000155.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000156.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000157.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000158.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000159.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000160.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000161.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000162.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000163.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000164.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000165.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000166.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000167.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000168.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000169.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000170.json +46 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000171.json +80 -0
- data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000172.json +80 -0
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000123.json
ADDED
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| 1 |
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{
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"episode_index": 123,
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"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "dump_bin_bigbin",
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| 5 |
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"task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.",
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"num_frames": 336,
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"subtasks": [
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{
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| 9 |
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"subtask_index": 0,
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"subtask_goal": "Grasp the trash bin with the right arm.",
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| 11 |
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"subtask_type": "single_grasp",
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"start_frame": 0,
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"end_frame": 70,
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"boundary_source": "after_gripper_right_close",
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"truncation_rule": "gripper_close",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 1,
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"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
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"subtask_type": "single_place",
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"start_frame": 71,
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"end_frame": 146,
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"boundary_source": "after_gripper_right_open",
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"truncation_rule": "gripper_open",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 2,
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"subtask_goal": "Grasp the trash bin with the left arm.",
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"subtask_type": "single_grasp",
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| 32 |
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"start_frame": 147,
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| 33 |
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"end_frame": 232,
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| 34 |
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"boundary_source": "after_gripper_left_close",
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| 35 |
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"truncation_rule": "gripper_close",
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| 36 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 3,
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"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
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| 41 |
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"subtask_type": "single_move",
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"start_frame": 233,
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| 43 |
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"end_frame": 335,
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| 44 |
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"boundary_source": "episode_end",
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"truncation_rule": "episode_end"
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}
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],
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| 48 |
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"metadata": {
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"annotation_version": "robotwin_vlm_coarse_v1",
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| 50 |
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"annotation_granularity": "coarse",
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| 51 |
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"gripper_threshold": 0.5,
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| 52 |
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
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| 53 |
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"detected_gripper_events": [
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| 54 |
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{
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| 55 |
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"frame": 55,
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| 56 |
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"arm": "right",
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| 57 |
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"kind": "close",
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| 58 |
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"start_frame": 48,
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| 59 |
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"end_frame": 62
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| 60 |
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},
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| 61 |
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{
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| 62 |
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"frame": 131,
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| 63 |
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"arm": "right",
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| 64 |
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"kind": "open",
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| 65 |
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"start_frame": 124,
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| 66 |
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"end_frame": 138
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| 67 |
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},
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| 68 |
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{
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| 69 |
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"frame": 217,
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| 70 |
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"arm": "left",
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| 71 |
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"kind": "close",
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| 72 |
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"start_frame": 210,
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| 73 |
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"end_frame": 224
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| 74 |
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}
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| 75 |
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],
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| 76 |
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"scene_info": {
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| 77 |
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"{A}": "063_tabletrashbin/base9"
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| 78 |
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}
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| 79 |
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}
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| 80 |
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}
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data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000124.json
ADDED
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@@ -0,0 +1,46 @@
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{
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| 2 |
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"episode_index": 124,
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| 3 |
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"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "dump_bin_bigbin",
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| 5 |
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"task_goal": "Grab the tabletrashbin and transfer balls to the bin.",
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| 6 |
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"num_frames": 164,
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| 7 |
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"subtasks": [
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| 8 |
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{
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| 9 |
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"subtask_index": 0,
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| 10 |
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"subtask_goal": "Grasp the trash bin with the left arm.",
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| 11 |
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"subtask_type": "single_grasp",
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| 12 |
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"start_frame": 0,
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| 13 |
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"end_frame": 69,
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| 14 |
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"boundary_source": "after_gripper_left_close",
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| 15 |
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"truncation_rule": "gripper_close",
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| 16 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 17 |
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},
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| 18 |
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{
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| 19 |
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"subtask_index": 1,
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| 20 |
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"subtask_goal": "Move the left arm.",
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| 21 |
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"subtask_type": "single_move",
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| 22 |
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"start_frame": 70,
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| 23 |
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"end_frame": 163,
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| 24 |
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"boundary_source": "episode_end",
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| 25 |
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"truncation_rule": "episode_end"
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| 26 |
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}
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| 27 |
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],
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| 28 |
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"metadata": {
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| 29 |
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"annotation_version": "robotwin_vlm_coarse_v1",
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| 30 |
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"annotation_granularity": "coarse",
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| 31 |
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"gripper_threshold": 0.5,
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| 32 |
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
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| 33 |
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"detected_gripper_events": [
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| 34 |
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{
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| 35 |
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"frame": 54,
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| 36 |
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"arm": "left",
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| 37 |
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"kind": "close",
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| 38 |
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"start_frame": 47,
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| 39 |
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"end_frame": 61
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| 40 |
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}
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| 41 |
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],
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| 42 |
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"scene_info": {
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| 43 |
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"{A}": "063_tabletrashbin/base9"
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| 44 |
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}
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| 45 |
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}
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| 46 |
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}
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data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000125.json
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@@ -0,0 +1,46 @@
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{
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| 2 |
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"episode_index": 125,
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| 3 |
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"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "dump_bin_bigbin",
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| 5 |
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"task_goal": "Lift the light gray bucket-shaped waste bin, pour the balls into big bin",
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| 6 |
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"num_frames": 167,
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| 7 |
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"subtasks": [
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| 8 |
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{
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| 9 |
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"subtask_index": 0,
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| 10 |
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"subtask_goal": "Grasp the trash bin with the left arm.",
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| 11 |
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"subtask_type": "single_grasp",
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| 12 |
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"start_frame": 0,
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| 13 |
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"end_frame": 71,
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| 14 |
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"boundary_source": "after_gripper_left_close",
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| 15 |
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"truncation_rule": "gripper_close",
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| 16 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 17 |
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},
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| 18 |
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{
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| 19 |
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"subtask_index": 1,
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| 20 |
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"subtask_goal": "Move the left arm.",
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| 21 |
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"subtask_type": "single_move",
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| 22 |
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"start_frame": 72,
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| 23 |
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"end_frame": 166,
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| 24 |
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"boundary_source": "episode_end",
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| 25 |
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"truncation_rule": "episode_end"
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| 26 |
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}
|
| 27 |
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],
|
| 28 |
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"metadata": {
|
| 29 |
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"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
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| 31 |
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"gripper_threshold": 0.5,
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| 32 |
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
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| 33 |
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"detected_gripper_events": [
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| 34 |
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{
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| 35 |
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"frame": 56,
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| 36 |
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"arm": "left",
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| 37 |
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"kind": "close",
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| 38 |
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"start_frame": 49,
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| 39 |
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"end_frame": 63
|
| 40 |
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}
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| 41 |
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],
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| 42 |
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"scene_info": {
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| 43 |
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"{A}": "063_tabletrashbin/base10"
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| 44 |
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}
|
| 45 |
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}
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| 46 |
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}
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data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000126.json
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@@ -0,0 +1,80 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 126,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the smooth plastic tabletrashbin, pour into the big bin.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 145,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 146,
|
| 33 |
+
"end_frame": 231,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 232,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 54,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 47,
|
| 59 |
+
"end_frame": 61
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 130,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 123,
|
| 66 |
+
"end_frame": 137
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 216,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 209,
|
| 73 |
+
"end_frame": 223
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000127.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 127,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use the arm to lift the black-specked gray tabletrashbin and empty it.",
|
| 6 |
+
"num_frames": 172,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 171,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 53,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 46,
|
| 39 |
+
"end_frame": 60
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base3"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000128.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 128,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the desk-sized white tabletrashbin and pour it out.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 143,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 144,
|
| 33 |
+
"end_frame": 230,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 231,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 54,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 47,
|
| 59 |
+
"end_frame": 61
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 128,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 121,
|
| 66 |
+
"end_frame": 135
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 215,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 208,
|
| 73 |
+
"end_frame": 222
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000129.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 129,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the lightweight trash container using the arm to pour balls.",
|
| 6 |
+
"num_frames": 171,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 67,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 68,
|
| 23 |
+
"end_frame": 170,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 52,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 45,
|
| 39 |
+
"end_frame": 59
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base8"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000130.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 130,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the small white trashbin, pour into the big bin.",
|
| 6 |
+
"num_frames": 169,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 67,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 68,
|
| 23 |
+
"end_frame": 168,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 52,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 45,
|
| 39 |
+
"end_frame": 59
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000131.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 131,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the small white trashbin and pour it out.",
|
| 6 |
+
"num_frames": 173,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 172,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 53,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 46,
|
| 39 |
+
"end_frame": 60
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000132.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 132,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the black-specked gray tabletrashbin, then pour the balls.",
|
| 6 |
+
"num_frames": 170,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 169,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 55,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 48,
|
| 39 |
+
"end_frame": 62
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base3"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000133.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 133,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the tabletrashbin and pour the balls.",
|
| 6 |
+
"num_frames": 332,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 145,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 146,
|
| 33 |
+
"end_frame": 233,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 234,
|
| 43 |
+
"end_frame": 331,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 59,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 52,
|
| 59 |
+
"end_frame": 66
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 130,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 123,
|
| 66 |
+
"end_frame": 137
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 218,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 211,
|
| 73 |
+
"end_frame": 225
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000134.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 134,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use the arm to move the mini white trashbin for desk and pour.",
|
| 6 |
+
"num_frames": 335,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 148,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 149,
|
| 33 |
+
"end_frame": 236,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 237,
|
| 43 |
+
"end_frame": 334,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 55,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 48,
|
| 59 |
+
"end_frame": 62
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 133,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 126,
|
| 66 |
+
"end_frame": 140
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 221,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 214,
|
| 73 |
+
"end_frame": 228
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000135.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 135,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the white round tabletrashbin and pour the balls.",
|
| 6 |
+
"num_frames": 337,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 151,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 152,
|
| 33 |
+
"end_frame": 238,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 239,
|
| 43 |
+
"end_frame": 336,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 59,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 52,
|
| 59 |
+
"end_frame": 66
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 136,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 129,
|
| 66 |
+
"end_frame": 143
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 223,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 216,
|
| 73 |
+
"end_frame": 230
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000136.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 136,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the small white trashbin using the arm, pour balls.",
|
| 6 |
+
"num_frames": 169,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 168,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000137.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 137,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the cylindrical tabletrashbin and transfer balls to the bin.",
|
| 6 |
+
"num_frames": 323,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 228,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 229,
|
| 43 |
+
"end_frame": 322,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 125,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 118,
|
| 66 |
+
"end_frame": 132
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 213,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 206,
|
| 73 |
+
"end_frame": 220
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000138.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 138,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the dark gray cylindrical tabletrashbin, then pour contents.",
|
| 6 |
+
"num_frames": 325,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 324,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 124,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 117,
|
| 66 |
+
"end_frame": 131
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 210,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 203,
|
| 73 |
+
"end_frame": 217
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base3"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000139.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 139,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take the small tabletop trashbin and empty its contents.",
|
| 6 |
+
"num_frames": 329,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 143,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 144,
|
| 33 |
+
"end_frame": 231,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 232,
|
| 43 |
+
"end_frame": 328,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 53,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 46,
|
| 59 |
+
"end_frame": 60
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 128,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 121,
|
| 66 |
+
"end_frame": 135
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 216,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 209,
|
| 73 |
+
"end_frame": 223
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000140.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 140,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use arm to grab the white cylindrical waste bin, dump contents",
|
| 6 |
+
"num_frames": 332,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 143,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 144,
|
| 33 |
+
"end_frame": 231,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 232,
|
| 43 |
+
"end_frame": 331,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 57,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 50,
|
| 59 |
+
"end_frame": 64
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 128,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 121,
|
| 66 |
+
"end_frame": 135
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 216,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 209,
|
| 73 |
+
"end_frame": 223
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000141.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 141,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use the arm to move the tabletrashbin for tabletop trash and pour.",
|
| 6 |
+
"num_frames": 164,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 67,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 68,
|
| 23 |
+
"end_frame": 163,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 52,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 45,
|
| 39 |
+
"end_frame": 59
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base3"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000142.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 142,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the compact tabletop trashbin and pour carefully.",
|
| 6 |
+
"num_frames": 326,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 325,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 53,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 46,
|
| 59 |
+
"end_frame": 60
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 123,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 116,
|
| 66 |
+
"end_frame": 130
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 210,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 203,
|
| 73 |
+
"end_frame": 217
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000143.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 143,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take the open-top tabletrashbin and empty its contents.",
|
| 6 |
+
"num_frames": 322,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 321,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 53,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 46,
|
| 59 |
+
"end_frame": 60
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 123,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 116,
|
| 66 |
+
"end_frame": 130
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 211,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 204,
|
| 73 |
+
"end_frame": 218
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000144.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 144,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin",
|
| 6 |
+
"num_frames": 325,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 143,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 144,
|
| 33 |
+
"end_frame": 231,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 232,
|
| 43 |
+
"end_frame": 324,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 128,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 121,
|
| 66 |
+
"end_frame": 135
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 216,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 209,
|
| 73 |
+
"end_frame": 223
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000145.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 145,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin",
|
| 6 |
+
"num_frames": 172,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 171,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 57,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 50,
|
| 39 |
+
"end_frame": 64
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000146.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 146,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Move the arm, take the tabletrashbin, and pour.",
|
| 6 |
+
"num_frames": 343,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 150,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 151,
|
| 33 |
+
"end_frame": 238,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 239,
|
| 43 |
+
"end_frame": 342,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 135,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 128,
|
| 66 |
+
"end_frame": 142
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 223,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 216,
|
| 73 |
+
"end_frame": 230
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000147.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 147,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the light gray waste container, dump balls in big bin",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 150,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 151,
|
| 33 |
+
"end_frame": 238,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 239,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 58,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 51,
|
| 59 |
+
"end_frame": 65
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 135,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 128,
|
| 66 |
+
"end_frame": 142
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 223,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 216,
|
| 73 |
+
"end_frame": 230
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000148.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 148,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour contents into big bin",
|
| 6 |
+
"num_frames": 344,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 152,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 153,
|
| 33 |
+
"end_frame": 240,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 241,
|
| 43 |
+
"end_frame": 343,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 57,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 50,
|
| 59 |
+
"end_frame": 64
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 137,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 130,
|
| 66 |
+
"end_frame": 144
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 225,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 218,
|
| 73 |
+
"end_frame": 232
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000149.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 149,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the white round tabletrashbin and pour contents down.",
|
| 6 |
+
"num_frames": 320,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 135,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 136,
|
| 33 |
+
"end_frame": 221,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 222,
|
| 43 |
+
"end_frame": 319,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 53,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 46,
|
| 59 |
+
"end_frame": 60
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 120,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 113,
|
| 66 |
+
"end_frame": 127
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 206,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 199,
|
| 73 |
+
"end_frame": 213
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000150.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 150,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the tabletrashbin for holding waste and pour contents down.",
|
| 6 |
+
"num_frames": 163,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 162,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base10"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000151.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 151,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Raise the cylindrical tabletrashbin with flared rim to dump its contents out.",
|
| 6 |
+
"num_frames": 329,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 142,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 143,
|
| 33 |
+
"end_frame": 229,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 230,
|
| 43 |
+
"end_frame": 328,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 55,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 48,
|
| 59 |
+
"end_frame": 62
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 127,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 120,
|
| 66 |
+
"end_frame": 134
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 214,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 207,
|
| 73 |
+
"end_frame": 221
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000152.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 152,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take the bucket-shaped gray trashbin and pour the balls out.",
|
| 6 |
+
"num_frames": 175,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 174,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base10"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000153.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 153,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift up the open-top tabletrashbin, then pour balls.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 146,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 147,
|
| 33 |
+
"end_frame": 235,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 236,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 54,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 47,
|
| 59 |
+
"end_frame": 61
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 131,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 124,
|
| 66 |
+
"end_frame": 138
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 220,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 213,
|
| 73 |
+
"end_frame": 227
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000154.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 154,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the white round tabletrashbin, dump balls in big bin",
|
| 6 |
+
"num_frames": 168,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 167,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000155.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 155,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take the white bin with flared top edge and pour contents.",
|
| 6 |
+
"num_frames": 172,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 171,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 53,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 46,
|
| 39 |
+
"end_frame": 60
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000156.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 156,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the white round tabletrashbin and pour it out.",
|
| 6 |
+
"num_frames": 169,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 168,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 56,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 49,
|
| 39 |
+
"end_frame": 63
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000157.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 157,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grasp the gray tabletrashbin and empty it out.",
|
| 6 |
+
"num_frames": 175,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 174,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 56,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 49,
|
| 39 |
+
"end_frame": 63
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base3"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000158.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 158,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use the arm to grab the tabletrashbin for holding waste and pour.",
|
| 6 |
+
"num_frames": 173,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 172,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base10"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000159.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 159,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift up the tabletrashbin for holding waste, then pour balls.",
|
| 6 |
+
"num_frames": 173,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 67,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 68,
|
| 23 |
+
"end_frame": 172,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 52,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 45,
|
| 39 |
+
"end_frame": 59
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base10"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000160.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 160,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick the simple white plastic trashbin, pour its contents out.",
|
| 6 |
+
"num_frames": 165,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 164,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 55,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 48,
|
| 39 |
+
"end_frame": 62
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000161.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 161,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use arm to grab the light gray tabletrashbin, dump contents",
|
| 6 |
+
"num_frames": 337,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 145,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 146,
|
| 33 |
+
"end_frame": 234,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 235,
|
| 43 |
+
"end_frame": 336,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 130,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 123,
|
| 66 |
+
"end_frame": 137
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 219,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 212,
|
| 73 |
+
"end_frame": 226
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base8"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000162.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 162,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.",
|
| 6 |
+
"num_frames": 168,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 167,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000163.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 163,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take the light gray waste container and pour the balls out.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 144,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 145,
|
| 33 |
+
"end_frame": 232,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 233,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 129,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 122,
|
| 66 |
+
"end_frame": 136
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 217,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 210,
|
| 73 |
+
"end_frame": 224
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base7"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000164.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 164,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the light gray tabletrashbin and empty it into the bin.",
|
| 6 |
+
"num_frames": 170,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 66,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 67,
|
| 23 |
+
"end_frame": 169,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 51,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 44,
|
| 39 |
+
"end_frame": 58
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base7"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000165.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 165,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Hold the tabletrashbin with slightly flared top and pour the balls.",
|
| 6 |
+
"num_frames": 173,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 172,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 55,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 48,
|
| 39 |
+
"end_frame": 62
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base3"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000166.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 166,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Secure the simple tabletop trashbin and pour the balls.",
|
| 6 |
+
"num_frames": 173,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 67,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 68,
|
| 23 |
+
"end_frame": 172,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 52,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 45,
|
| 39 |
+
"end_frame": 59
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base7"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000167.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 167,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Use the light gray cylindrical trashbin to pour the balls out.",
|
| 6 |
+
"num_frames": 168,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 167,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base7"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000168.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 168,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Pick up the mini white trashbin for desk and pour into bin.",
|
| 6 |
+
"num_frames": 322,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 146,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 147,
|
| 33 |
+
"end_frame": 233,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 234,
|
| 43 |
+
"end_frame": 321,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 55,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 48,
|
| 59 |
+
"end_frame": 62
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 131,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 124,
|
| 66 |
+
"end_frame": 138
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 218,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 211,
|
| 73 |
+
"end_frame": 225
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000169.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 169,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Grab the light gray tabletrashbin and transfer balls to the bin.",
|
| 6 |
+
"num_frames": 171,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 170,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 57,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 50,
|
| 39 |
+
"end_frame": 64
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base8"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000170.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 170,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Take hold of the white round tabletrashbin and dump the balls.",
|
| 6 |
+
"num_frames": 155,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 154,
|
| 24 |
+
"boundary_source": "episode_end",
|
| 25 |
+
"truncation_rule": "episode_end"
|
| 26 |
+
}
|
| 27 |
+
],
|
| 28 |
+
"metadata": {
|
| 29 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 30 |
+
"annotation_granularity": "coarse",
|
| 31 |
+
"gripper_threshold": 0.5,
|
| 32 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 33 |
+
"detected_gripper_events": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 54,
|
| 36 |
+
"arm": "left",
|
| 37 |
+
"kind": "close",
|
| 38 |
+
"start_frame": 47,
|
| 39 |
+
"end_frame": 61
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"scene_info": {
|
| 43 |
+
"{A}": "063_tabletrashbin/base9"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000171.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 171,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the plastic tabletrashbin with dark pattern, then pour the balls.",
|
| 6 |
+
"num_frames": 344,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 148,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 149,
|
| 33 |
+
"end_frame": 236,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 237,
|
| 43 |
+
"end_frame": 343,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 59,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 52,
|
| 59 |
+
"end_frame": 66
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 133,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 126,
|
| 66 |
+
"end_frame": 140
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 221,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 214,
|
| 73 |
+
"end_frame": 228
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base3"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000172.json
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode_index": 172,
|
| 3 |
+
"repo": "dump_bin_bigbin-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "dump_bin_bigbin",
|
| 5 |
+
"task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour its contents into bin.",
|
| 6 |
+
"num_frames": 320,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the trash bin with the right arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_right_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the trash bin to the center of the table with the right arm.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 141,
|
| 24 |
+
"boundary_source": "after_gripper_right_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the trash bin with the left arm.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 142,
|
| 33 |
+
"end_frame": 228,
|
| 34 |
+
"boundary_source": "after_gripper_left_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Pour the trash bin contents into the big bin with the left arm.",
|
| 41 |
+
"subtask_type": "single_move",
|
| 42 |
+
"start_frame": 229,
|
| 43 |
+
"end_frame": 319,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"metadata": {
|
| 49 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 50 |
+
"annotation_granularity": "coarse",
|
| 51 |
+
"gripper_threshold": 0.5,
|
| 52 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 53 |
+
"detected_gripper_events": [
|
| 54 |
+
{
|
| 55 |
+
"frame": 56,
|
| 56 |
+
"arm": "right",
|
| 57 |
+
"kind": "close",
|
| 58 |
+
"start_frame": 49,
|
| 59 |
+
"end_frame": 63
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"frame": 126,
|
| 63 |
+
"arm": "right",
|
| 64 |
+
"kind": "open",
|
| 65 |
+
"start_frame": 119,
|
| 66 |
+
"end_frame": 133
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"frame": 213,
|
| 70 |
+
"arm": "left",
|
| 71 |
+
"kind": "close",
|
| 72 |
+
"start_frame": 206,
|
| 73 |
+
"end_frame": 220
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"scene_info": {
|
| 77 |
+
"{A}": "063_tabletrashbin/base9"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|